Mixed programming

Programming TCP coordinates and coordinates of partial kinematics in the same NC command.

Programing Example

prg_example

Linear and rotary movement of the TCP and fixed programming of the linear unit.

Additional programming of linear axes in block N030.

N010 #KIN ID [3]
N020 #TRAFO ON
N030 G00 G90 X_TCP=1000 Y_TCP=500 Z_TCP=50 C_TCP=10 X_LIN=800 Y_LIN=0
N040 #TRAFO OFF

The movement is distributed as follows:

 

X

Y

Z

A

B

C

Linear unit

800

0

 

 

 

 

Robot

200

500

50

0

0

10

TCP

1000

500

50

0

0

10

The robot must travel the difference between the TCP position and the position of the linear axes in X and Y directions.

Programing Example

prg_example

Circular interpolation in the TCP and fixed programming of individual coordinates

N010 #KIN ID [3]
N020 #TRAFO ON
; Approach start position of linear unit and robot
N030 G00 G90 X_LIN=0 Y_LIN=0
N040 G00 G90 X_ROB=500 Y_ROB=0 Z_ROB=1500
; Circular interpolation
N050 G02 G91 F5000 X_TCP=0 Y_TCP=-500 R250 X_LIN=0 Y_ROB=0
N060 #TRAFO OFF

The movement is distributed as follows:

 

X

Y

Z

A

B

C

Linear unit

0

-500

 

 

 

 

Robot

500

0

1500

0

0

10

TCP

500

-500

1500

0

0

10

In block N050, the Y linear axis assumes the movement in the Y direction. Simultaneously, the robot executes the movement in the X direction. The programmed partial kinematics then travel only linear movements.