ID 21321

Kinematic transformation must be selected for the effector coordinate system.

Description

For non-Cartesian machine kinematics, such as hexapod kinematics, selecting the effector coordinate system (#ECS ON) detects that the kinematic transformation is not enabled.

Example:

Wrong:

N10 #KIN ID[26]

N20 #TRAFO ON

N30 G01 G90 X10 Y10 Z100 A15 B15 C0 F5000

N40 G01 G90 X-10 Y-10 Z100 A15 B15 C0

N50 #TRAFO OFF

N60 #ECS ON

N70 G01 G90 X25 Y25 Z0 A-15 B-15 C0

:

N1000 M30

Correct:

N10 #KIN ID[26]

N20 #TRAFO ON

N30 G01 G90 X10 Y10 Z100 A15 B15 C0 F5000

N40 G01 G90 X-10 Y-10 Z100 A15 B15 C0

N50 #ECS ON

N70 G01 G90 X25 Y25 Z0 A-15 B-15 C0

N80 #TRAFO OFF

:

N1000 M30

Response

Class

2

Abort NC program processing.

Solution

Class

3

Before activating the effector coordinate system (#ECS ON) with non Cartesian machine kinematics, the kinematic transformation must be active (#TRAFO ON).

The channel parameters P-CHAN-00031, P-CHAN-00050 have no influence on the #ECS function for these kinematic structures and specification of the tool orientation via three spatial rotation angles.

Error type

1, Error message from NC program.