ACU-RITE MILLPWR G2, Техническое руководство

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5.11 Machine Kinematics 305
MP_val
Value of the transformation
Format: Numeric value
Input: -999 999 999.999 999 999 to +999 999 999.999 999 999 [mm]
or [°
Default: -
Access:
LEVEL3
Creation: RUN
 Now define the subkinematics
Subkinematics can be included separately, and so increase the flexibility of the
machine kinematics. On machines with exchangeable components (e.g.
adapter spindles or angle heads) you can use the subkinematics in multiple
kinematics models.
Subkinematics are defined under CfgKinSimpleModel:
 Create a folder (=key name of the subkinematics) for each subkinematics
under
CfgKinSimpleModel. Under MP_kinObjects you describe the struc-
ture of the subkinematics. Then, in sequence from the tool to the machine
base you enter the names of the kinematics objects comprising the subki-
nematics. Kinematics objects can be machine axes (key names from CfgKin-
SimpleAxis), transformations (key names from CfgKinSimpleTrans) and
fixed points (e.g. the machine base key name from CfgKinAnchor).
MP_kinObjects
List of key names of objects in the kinematics chain
Format: Array
Default: -
Access:
LEVEL3
Creation: RUN
 Now collect the subkinematics to form a kinematics model
Define kinematics models under CfgKinComposModel.
 Create a folder (=key name) for the kinematics model under CfgKinCom-
posModel. Via MP_subKinList you enter the subkinematics that comprise
the kinematics model. The list must be in the sequence from the tool [0] to
the machine table. It is also possible to enter just one subkinematics. Enter
under
MP_activeSpindle the name of the spindle (from System/CfgA-
xes/axisList) that belongs to the kinematics model.