HEIDENHAIN MANUALplus 620 Technical Manual page 753

Transformations on
the tool side
January 2012 6.12 Machine Kinematics (Up to NC Software 548 328-02)
The machine kinematics, i.e. the coordinate transformations, are described in
the following parameters.
The key names of all axes on the tool side are entered in MP_axesToolSide.
The sequence of the entries reflects the physical arrangement of the axes.
Enter the axis on which the other axes are based at position [0].
The control assumes a three-dimensional kinematics model. If the NC channel
does not have all of the three principal axes, replace the missing principal axes
by dummy axes.
MP_axesToolSide
Key names of the axes on the tool side
Available from NCK software version: 597 110-01.
Format: Array [0...9]
Input: Key names from CfgAxes/axisList (for dummy axes from
CfgAxes/specCoordSysList)
Default: –
Access: LEVEL3
Reaction: RESET
Enter the key names of the coordinate transformations on the tool side in
MP_trafoToolSide. The sequence must correspond to the axes entered in
MP_axesToolSide.
MP_trafoToolSide
Coordinate transformations on the tool side
Available from NCK software version: 597 110-01.
Format: Array [0...9]
Input: Key names for coordinate transformations
Default: –
Access: LEVEL3
Reaction: RESET
Key names of the coordinate transformations defined by direction vectors are
entered in MP_trafoDirToolSide. They must also be entered in
MP_trafoToolSide, but cannot appear in MP_trafoAngleToolSide.
MP_trafoDirToolSide
Coordinate transformation defined by direction vectors
Available from NCK software version: 597 110-01.
Format: Array [0...9]
Input: Key names for coordinate transformations
Default: –
Access: LEVEL3
Reaction: RESET
Key names of transformations defined by angles are entered in
MP_trafoAngleToolSide. They must also be entered in MP_trafoToolSide,
but cannot appear in MP_trafoDirToolSide.
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