Programming

Notice

The full CNC functionality is only available with TCP programming. Only linear blocks are possible when programming partial kinematics.

All the functions of the NC kernel are only available for programming the TCP and therefore the first group. Only linear blocks can be programmed for all partial kinematics. It is not possible to use partial kinematics for other NC function, e.g. circular interpolation or for machining coordinate systems.

The programming coordinate system (PCS) of the partial kinematics cannot be changed and is located at the machine origin of each coordinate.

In addition to existing methods, the PCS of the TCP can also be shifted by specifying the tool CS (P-CHAN-00448) in the moved effector system of a different group.

The coupling kinematics below consists of

• a XY linear unit
• a 6-axis robot mounted on it
• The linear unit and the robot are aligned in the X and Y directions

Example

Configuration example of a robot on an XY linear unit

The configuration below will be used in the programming examples. For reasons of clarity, the partial kinematics and axes are not fully configured here.

trafo[0].id                     1
trafo[0].type                   45
…

trafo[1].id                     2
trafo[1].type                   91
…

trafo[2].id                     3
trafo[2].type                   210
trafo[2].group[0].id            100
trafo[2].group[0].chain[0]      2
trafo[2].group[0].chain[1]      1
trafo[2].group[0].move_prio[0]  2
trafo[2].group[0].move_prio[1]  1
…

The axis identifiers are:

• XY linear unit
• X_LIN, Y_LIN
• Robot
• X_ROB, Y_ROB, Z_ROB, A_ROB, B_ROB, C_ROB
• TCP
• X_TCP, Y_TCP, Z_TCP, A_TCP, B_TCP, C_TCP

Programming RTCP kinematics

Initial situation: The couple kinematic consists of a 5-axis RTCP kinematic and additional partial kinematics.

The orientation angle mode (P-CHAN-00112) must be set so that the rotation sequence is identical to the sequence of rotary axes in the RTCP kinematic. Only the angles that would be programmed for the RTCP kinematic should be programmed in the TCP.

Example

RTCP kinematics – axes to be programmed