Deselect Rotary Axis; The Positioning Direction Of The Rotary Axis - HEIDENHAIN iTNC 530 HSCI Technical Manual

Deselect rotary axis

Positioning
direction
750
Please keep in mind that you must not perform any transformations in the
macro, and that you may only use QL parameters (no QS parameters from 0
to 99)!
MP6602 KinematicsOpt: M-function macro for positioning the
rotary axes
Input: 0 to 999
-1: Function inactive
Through measuring points 0 – 12 it is possible to "hide" a rotary axis (0 = axis).
The angle of incidence of this axis is considered nevertheless.
Note
Please note that all transformations are effective incrementally.
Compensation values for one axis lead to a corresponding shift in all
subsequent positions of the axes.
By deselecting an axis, it is completely removed from the optimization with
KinematicsOpt.
The positioning direction of the rotary axis to be measured is determined from
the start angle and the end angle. Because +270° is identical to –90° for
example, the same angles can result in different measuring positions.
Examples:
Start angle = –90°
End angle = +90°
Measuring points = 4
Angle increment = (end angle – start angle) / (measuring points – 1)
= (90° - -90°) / 3
= +60°
Therefore: P1 = –90°; P2 = –30°; P3 = +30°; P4 = +90°
Start angle = +270°
End angle = +90°
Measuring points = 4
Angle increment = (end angle – start angle) / (measuring points – 1)
= (90° - 270°) / 3
= –60°
Therefore: P1 = –90°; P2 = –120°; P3 = –210°; P4 = –270°
HEIDENHAIN Technical Manual iTNC 530 HSCI