Lenze ETC Motion Control - Manual (Page 162)

CNC programming
G functions
G functions individual descriptions
3
3.2
3.2.2
l
162 EDSTCXN EN 2.0
The function transforms from the X Y plane in the Cartesian coordinate
system into a A B machine coordinate system. During this process, the tool
orientation of the C axis, if desired (E1), is also transformed. The following
figure shows the machine kinematics in the 0
°
setting of the A and B axis.
A
L1
L2
B
C
ETCN054
The lever lengths L1 and L2 may also be negative.
The X/Y coordinate of the pivotal point of the C axis is programmed when the
transformation is activated. In the initial position A0, B0 this corresponds to
the coordinate X0, Y0 in the Cartesian coordinate system.
During transformation, the two virtual axes X and Y are created, which are
then used for programming in the Cartesian coordinate system. The
maximum speed and the ramps of these axes are transferred from the MCs
MK_BAHNVMAX, MK_BAHNBESCHL and MK_BAHNBREMS.
During transformation, the physical axes A and B can only still be moved
indirectly via X,Y. During this process, the speed and acceleration of the
physical axes which are involved in the transformation are not limited. This
is especially important to note when the critical travel region of the machine
is passed. Traveling with X/Y coordinates close to the pivotal point of the A
axis will result in a very high traversing speed of the physical axes!
Two free application axis numbers are needed for the virtual axes. It is
recommended that you keep free the first two axis numbers in the MCs for
the virtual axes. In this case, X is assigned the axis number 0 and Y the axis
number 1.
The transformation is deactivated by programming G211 without E or
automatically at the end of the program or in the event of a program
termination.
G211 E1 Transformation with consideration of the C axis "on".
... Profile with X,Y and C coordinates.
G211 Switch transformation off.
... A,B coordinates are allowed from here again.
Explanation
Example