Configuring the kinematics

Overview

The kinematics should be configured to simulate a classic CA machine with the axes XYZCA. The kinematics is configured in three steps:

Step 1: Kinematic chain

• Tool zero position
• Description of participating axes
• Sequence of axes in the kinematic chain

Step 2: Programming mode

• Point vector, CA, BA, etc.

Step 3: Angle transformation

• Incomplete (RTCP = Rotation Tool Centre Point, i.e. rotation angles are not mapped by the transformation) or
• Complete transformation.

Notice

Each of the components can be set by channel list files (e.g. default_sda.lis) or by variables in the NC code.

This documentation uses lists in the examples.