Switch via NC command

CH=..

Source of the dynamic coordinate system which is to be tracked.

[1;12]: CNC channel number which the dynCS indicates.

ID=..

Source of the dynamic coordinate system which is to be tracked.

0:        PLC Interface

[1;12]: CNC master channel number which the dynamic CS indicates.

SET_ZERO /
ABSOLUTE

The current positions of the master are signalled to the decoder and can be calculated in the NC program as follows. This can occur implicitly by #TRACK CS ABS or explicitly by the channel variable V.G. TRACK_CS.X/Y/Z/A/B/C.

OPTION=..

Options which must be tracked:

0:   translation and rotation are considered. (default)

1:   only translation is tracked.

KIN_BASE

Fluctuations (red in the figure) in the kinematic based are compensated so that the slave TCP can be maintained at a stationary position. First specify the erroneous X/Y/Z offset and then the rotation C-B-A of the kinematic base.

FILTER=..

If the input parameters are not 0 when the function is activated/deactivated, this would lead of a position jump in the programmed path contour. To prevent this, the specified translation/rotation can be coupled/decoupled softly by a filter and smoothed over the specified cycles.

== 0, Filter is off.

> 1, Filter is activated with explicitly specified filter time.

If not specified, the filter is activated at default filter time = 200.

WAIT

When the filter is active, the program waits until the coupling is completely activated to execute the next NC row. If this mode is not specified (default), coupling is executed “on the fly”.

X | Y | Z | A | B | C

Additional static offset / rotation of error coupling point referred to kinematic base (KIN_BASE=1).
Regarding the rotation, the default rotation sequence of the CNC applies: rotation about Z, rotation about Y, rotation about X. The rotation sequence cannot be changed even with the parameter settings of P-CHAN-00394.

Static offset between master and slave (KIN_BASE=0).

ROT_TRANS

The error is specified by an offset and a rotation. First measure the offset and then the rotation. If the offset is measured in the coordinate system which is already rotated, this can be specified by the following setting.

WAIT

When the filter is active, the program waits until the coupling is completely deactivated to execute the next NC row. If this mode is not specified (default), coupling is executed “on the fly”.