HEIDENHAIN MANUALPLUS 620 - 6.12.1 Configuration of the machine kinematics

748 HEIDENHAIN Technical Manual MANUALplus 620
6.12.1 Configuration of the machine kinematics
Overview of
machine
parameters for the
kinematics
configuration
Describe the kinematics models in the parameter object CfgKinModel/Key
name of kinematics model.
Two transformation sequences are defined based on a machine base system
C
mb
:
 Transformation sequence on the tool side
 Transformation sequence on the workpiece side
Each axis on the machine is represented by a coordinate system in one of the
two sequences.
The Z axis for these coordinate systems is always defined as the direction of
movement (for translation axes) or the rotary axis (for rotation axes)
(convention for internal kinematics model).
The Z axis of translation axes always indicates the positive direction of
movement for the tool, and for the workpiece the negative direction of motion
of the assigned physical axis. Positive direction of motion means that the REF
display increases when the axis moves in this direction. On the other hand, a
negative direction of motion means that the REF display decreases when the
axis moves in this direction.
This means that, for rotational axes, the Z axis of a coordinate system
indicates the positive direction of rotation for the tool, and for the workpiece
the negative direction of rotation of the assigned physical axis. Positive
direction of rotation for rotational axes means that the REF display increases
when the axis rotates in this direction. On the other hand, a negative direction
of rotation means that the REF display decreases when the axis rotates in this
direction.
Settings in the configuration editor MP number
Channels
Kinematics
CfgKinModel
[Key name of the kinematic model]
axesToolSide
trafoToolSide
trafoDirToolSide
trafoAngelToolSide
toolCoordSys
axesWpSide
trafoWpSide
trafoDirWpSide
trafoAngleWpSide
machineTableSys
200001
200002
200003
200004
200005
200006
200007
200008
200009
200010