Tilting solution
Application
SYM (SEQ) allows selecting the desired option from several tilting solutions.
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. |
SEQ | With SEQ you select a tilting solution relative to the basic position of the master axis. |
Reference for SEQ | 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.
If you do not define SYM (SEQ), then the control determines the solution as follows:
- Check whether both possible solutions are within the traverse range of the rotary axes
- Two possible solutions: Based on the current position of the rotary axes, choose the possible solution with the shortest path
- One possible solution: Choose the only solution
- 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).
To determine the symmetry point:
- Perform PLANE SPATIAL with any spatial angle and SYM+
- Save the axis angle of the master axis in a Q parameter (e.g., –80)
- Repeat the PLANE SPATIAL function with SYM-
- Save the axis angle of the master axis in a Q parameter (e.g., –100)
- Calculate the average value (e.g., –90)
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
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 |
SYM | SEQ | Resulting axis position | Kinematics view |
---|---|---|---|
+ | A–45, B+0 | ||
- | Error message | No solution in limited range | |
+ | Error message | No solution in limited range | |
- | A–45, B+0 |
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.