July 2013 6.5 Tilting and swivel axes 747
Kinematics
description
In the optimizing mode, the linear offsets (compensation translations) are
adjusted to the kinematics description. Please note that two compensation
transformations defining the position (not the angular position) of the rotary
axis must be defined for every rotary axis. The TNC can find a suitable
compensation translation even beyond two rotary axes. As soon as a
translation is not parallel to the rotary axis to be optimized it can be accepted
as a compensation translation.
If further axes lie between the rotary axis to be measured and the translation,
then the translation must be parallel to the other rotary axes.
Transformations that do not have an entry in the COORD column are not
changed by KinematicsOpt.
Example of a kinematic description with a B head and C table:
This description is also possible:
NR KEY AXIS COORD
xx Trans X +100.014
xx Trans Z +299.951
xx MachAxis B
xx Trans Z -600.142
xx Trans X +300.021
xx Trans Y -251.191
xx MachAxis C
NR KEY AXIS COORD
xx Trans X +100.014
xx Trans Y -251.191 Compensation translation for C
xx Trans Z +299.951
xx MachAxis B
xx Trans Z -600.142
xx Trans X +300.021
xx MachAxis C
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