Avoiding pose changes

Description of problem

For machines with two or more rotary axes, there are usually axis angle solutions for setting programmed tool orientation.

During motion along a path, it is usually undesirable to set one and the same orientation by means of different axis angles ("pose change") since the machine may execute unexpected compensation motions which would lead to the risk of collision.

Avoidance

When selected, the kinematics selects a pose. At all later points in time, the kinematics always selects the solution of axis angles belonging to the same pose.

Attention

This strategy is unnecessary on 4-axis machines since there is at most one axis angle solution only.

The above mentioned strategy is applied to all 5-axis machines that do not run in RTCP mode. At most, changing a pose is only possible when transformation is deselected. However, pose selection the next time the transformation is selected cannot be influenced externally.