Tilting solution

Application

SYM (SEQ) allows selecting the desired option from several tilting solutions.

 
Tip

Unambiguous tilting solutions can be defined by using axis angles exclusively.

All other definition options can result in several tilting solutions, depending on the machine.

Description of function

The control offers two options from which one must be selected.

Option­

Meaning

SYM

With SYM you select a tilting solution relative to the symmetry point of the master axis.

Tilting solution SYM

SEQ

With SEQ you select a tilting solution relative to the basic position of the master axis.

Tilting solution SEQ

SEQ

Reference for SEQ

SYM

Reference for SYM

If the solution you have selected with SYM (SEQ) is not within the machine’s range of traverse, then the control displays the Entered angle not permitted error message.

The entry of SYM or SEQ is optional.

  1. If you do not define SYM (SEQ), then the control determines the solution as follows:
  2. Check whether both possible solutions are within the traverse range of the rotary axes
  3. Two possible solutions: Based on the current position of the rotary axes, choose the possible solution with the shortest path
  4. One possible solution: Choose the only solution
  5. No possible solution: Issue the error message Entered angle not permitted

Tilting solution SYM

  • With the SYM function, you select one of the possible solutions relative to the symmetry point of the master axis:
  • SYM+ positions the master axis in the positive half-space relative to the symmetry point
  • SYM- positions the master axis in the negative half-space relative to the symmetry point

As opposed to SEQ, SYM uses the symmetry point of the master axis as its reference. Every master axis has two symmetry positions, which are 180° apart from each other (sometimes only one symmetry position is in the traverse range).

 
Tip
  1. To determine the symmetry point:
  2. Perform PLANE SPATIAL with any spatial angle and SYM+
  3. Save the axis angle of the master axis in a Q parameter (e.g., –80)
  4. Repeat the PLANE SPATIAL function with SYM-
  5. Save the axis angle of the master axis in a Q parameter (e.g., –100)
  6. Calculate the average value (e.g., –90)
  7. The average value corresponds to the symmetry point.

Tilting solution SEQ

  • With the SEQ function, you select one of the possible solutions relative to the home position of the master axis:
  • SEQ+ positions the master axis in the positive tilting range relative to the home position
  • SEQ- positions the master axis in the negative tilting range relative to the home position

SEQ assumes that the master axis is in its home position (0°). Relative to the tool, the master axis is the first rotary axis, or the last rotary axis relative to the table (depending on the machine configuration). If both possible solutions are in the positive or negative range, then the control automatically uses the closer solution (shorter path). If you need the second possible solution, then you must either pre-position the master axis (in the area of the second possible solution) before tilting the working plane, or work with SYM.

Examples

Machine with C rotary axis and A tilting table.
Programmed function: PLANE SPATIAL SPA+0 SPB+45 SPC+0

Limit switch

Start position

SYM = SEQ

Resulting axis position

None

A+0, C+0

Not prog.

A+45, C+90

None

A+0, C+0

+

A+45, C+90

None

A+0, C+0

A–45, C–90

None

A+0, C–105

Not prog.

A–45, C–90

None

A+0, C–105

+

A+45, C+90

None

A+0, C–105

A–45, C–90

–90 < A < +10

A+0, C+0

Not prog.

A–45, C–90

–90 < A < +10

A+0, C+0

+

Error message

–90 < A < +10

A+0, C+0

A–45, C–90

Machine with B rotary axis and A tilting table (limit switches: A +180 and –100). Programmed function: PLANE SPATIAL SPA-45 SPB+0 SPC+0

SYM

SEQ

Resulting axis position

Kinematics view

+

A–45, B+0

SYMplus_SEQminus

-

Error message

No solution in limited range

+

Error message

No solution in limited range

-

A–45, B+0

SYMplus_SEQminus
 
Tip

The position of the symmetry point is contingent on the kinematics. If you change the kinematics (such as switching the head), then the position of the symmetry point changes as well.

Depending on the kinematics, the positive direction of rotation of SYM may not correspond to the positive direction of rotation of SEQ. Therefore, ascertain the position of the symmetry point and the direction of rotation of SYM on each machine before programming.