Classic programming modes

CA mode (17)

Tool position and orientation are determined as a forward transformation of the following kinematic chain.

• Tool zero position is [0, 0, 0].
• Tool zero orientation is [0, 0, 1] (Z direction).
• Axis sequence XYZCA
• All axes pass through the zero point [0, 0, 0].

Other modes

By analogy, there are other modes AC, AB, BA, BC, CB. Tool zero orientation is always the orientation of the first rotary axis mentioned.

For more information, see P-CHAN-00112.