Implementation of CB head kinematic

Let's assume that the existing kinematic with ID 9, with a CA head kinematic, is to be converted to a CB head kinematic.

Configuration of a CB machine

# CB machine: XYZCB

#

kinematik[91].rtcp                        1

# Programming mode CB->19

kinematik[91].programming_mode            19

kinematik[91].number_of_axes               5

#WZ Zero orientation of machine axes

kinematik[91].zero_orientation[0]         0

kinematik[91].zero_orientation[1]         0

kinematik[91].zero_orientation[2]         1

#WZ Zero position of machine axes

kinematik[91].zero_position[0]            0

kinematik[91].zero_position[1]            0

kinematik[91].zero_position[2]            0

#

# X axis type, position (Index 0)

kinematik[91].axis[0].type                1    #lin

kinematik[91].axis[0].orientation[0]      1

kinematik[91].axis[0].orientation[1]      0

kinematik[91].axis[0].orientation[2]      0

#

# Y axis type, position (Index 1)

kinematik[91].axis[1].type                1    #lin

kinematik[91].axis[1].orientation[0]      0

kinematik[91].axis[1].orientation[1]      1

kinematik[91].axis[1].orientation[2]      0

#

# Z axis type, position (Index 2)

kinematik[91].axis[2].type                1    #lin

kinematik[91].axis[2].orientation[0]      0

kinematik[91].axis[2].orientation[1]      0

kinematik[91].axis[2].orientation[2]      1

#

# C axis type, position (Index 3)

kinematik[91].axis[3].type                2    #rot

kinematik[91].axis[3].orientation[0]      0

kinematik[91].axis[3].orientation[1]      0

kinematik[91].axis[3].orientation[2]      1

#

# B axis type, position (Index 4)

kinematik[91].axis[4].type                2    #rot

kinematik[91].axis[4].orientation[0]      0

kinematik[91].axis[4].orientation[1]      1

kinematik[91].axis[4].orientation[2]      0

kinematik[91].axis[4].point[0]            0

kinematik[91].axis[4].point[1]            0

kinematik[91].axis[4].point[2]            1000000

#

# Sequence of kinematic chain: YXZCB

kinematik[91].chain[0]    0    #X axis

kinematik[91].chain[1]    1    # Y axis

kinematik[91].chain[2]    2    # Z axis

kinematik[91].chain[3]    3    # C axis

kinematik[91].chain[4]    4    # B axis

#

The machine parameters can also be defined in the NC program similar to the example of the CA machine.