Description
Concepts
Kinematics supports two different programming modes:
- Point-vector mode (simpler). The user programs tool orientation and position directly.
- Angles are programmed in all the other modes. The kinematics interprets these angles based on the given programming mode and calculates tool orientation and position as well as Cartesian values. Users can then decide on the method to determine axis angles:
Axis angle calculation | Description |
|---|---|
RTCP (Rotation Tool Centre Point) / incomplete | Programmed angles are simply adopted as axis angles. |
Complete | As in the case of point-vector mode, axis angles are determined from the calculated orientation. |
Applications
Since the orientation and interpolation point must be specified explicitly for each axis, machines can be mapped even if they have unusual axis positions (45° angles, 30° angles, etc.).
For the same reason, incorrect machine-related axis positions can also be compensated. If the kinematics is configured accordingly, it calculates compensatory axis values.
Since the sequence of axes in the kinematic chain is freely configurable, rotary axes can be mapped in the tool table, for example.