Lenze ETC Motion Control - Manual (Page 222)

Machine constants
Technology−specific settings
MK_MASCH_POLAR_KART
4
4.15
4.15.3
l
222 EDSTCXN EN 2.0
4.15.3 MK_MASCH_POLAR_KART
This machine constant switches from a Cartesian to a polar machine
coordinate system. In the polar coordinate system, the positions in the
machine plane are defined by an angle axis and a radius axis, while the
control transfers the transformation of the interpolated Cartesian
coordinates into the polar coordinate system.
During this process, programming and interpolation remain in Cartesian
coordinates both during manual traversing and in program operation. The
Cartesian and polar axes are assigned to the coordinate systems via
MK_KARTESISCH_ACHSNR and MK_POLAR_ACHSNR.
Value Meaning
0 Cartesian machine coordinate system (default)
1 polar machine coordinate system
)
Note!
The speed within the interpolator is only limited in the Cartesian
coordinate system. The maximum speeds of the polar radius axis
and angle axis can no longer be monitored after the
transformation. In an extreme case, e.g. traveling through the
polar zero point, this may lead to following errors.
4.15.4 MK_KARTESISCH_ACHSNR
This machine constant defines the numbers of the Cartesian axes in the case
of a polar machine coordinate system. The positions of these virtual axes are
used to calculate the positions of the polar radius and angle axis later on. The
numbers of the axes should be the same as the polar axes to ensure that only
the number of axes that are physically available must be configured.
This MC has the following three entries:
Index Default Meaning
0 0 Number of the cosine axis (X)
1 1 Number of the sine axis (Y)
2 −1 Number of the optional tangential correction axis or −1 (C)
The first two entered axes must be configured as linear axes in
MK_ACHSENART. All unit dependent MCs, except for MK_WEG, must be
specified in [mm] for these axes. The third axis must be configured as a
rotation axis.