General information on kinematic transformations (TRAFO)

You will find an overview of the standard available kinematic transformation in Kinematic transformations.

Example of a kinematic transformation
Example of a kinematic transformation

Kinematic structure

To simplify workpiece programming, the kinematic transformation encapsulates the machine’s kinematic structure and abstracts the motions in a simple Cartesian coordinate system.

Forward/backward transformation Forward/backward transformation

Depending on the machines' kinematics, the CNC needs the transformation between axis coordinates and programming coordinates to calculate motions. With the aid of this kinematic transformation, the coordinates of the NC program (forward transformation, ACS -> MCS) are calculated from the physical positions of the axes. Conversely, backward transformation calculates the axis positions from the programmed NC positions (MCS -> ACS).

Selecting/deselecting

A transformation is selected and deselected using NC commands in the NC program. The NC command for selection is #TRAFO ON; the command for deselection is #TRAFO OFF.

The NC command #KIN ID[ ] is provided for selecting the transformation; alternatively, it can be pre-assigned by P-CHAN-00032.

Extendibility

You can create a user-defined transformation and make it available to the CNC under a selected number (ID). The range [500; 999] is provided as the transformation numbers for this operation. The range [65; 69] continues to be provided for compatibility reasons.