1A1-0042

Access machine parameters

Press MOD key, enter password, select 'Machine Parameters' from the menu. Navigate to General/Geometry section.

Parameter modifications require machine shutdown and restart. Incorrect changes can cause machine malfunction.

Check MP7500 CfgKinType

Locate MP7500 and verify the value matches your machine: 0=Standard 3-axis, 1=Tilting rotary table (B-axis on table), 2=Swivel head (B/C on spindle), 3=Table and head combination. Consult machine documentation for correct setting.

The kinematic type must be set before any other kinematic parameters are configured. Changing this value typically requires reconfiguring all MPs in the 7500+ range.

Restart control and verify

After correcting MP7500, perform complete control restart (power cycle). Monitor for alarm clearance during startup initialization.

Do not attempt to run NC programs until alarm clears completely and kinematic check passes.

Review rotary axis vector definitions

Check MP7502 (axis vector X), MP7503 (axis vector Y), MP7504 (axis vector Z) for the primary rotary axis. These must form a unit vector (sqrt(X²+Y²+Z²)=1). For standard B-axis tilting around Y: X=0, Y=1, Z=0.

Use the calculator function in MOD mode to verify vector magnitude. Common error is entering values like X=1, Y=1, Z=0 which has magnitude 1.414, not 1.0.

Verify tool reference point

Check MP7501 (offset from machine zero to rotary axis intersection). This defines where the rotary axes intersect in machine coordinates. Values must match physical machine geometry exactly.

Incorrect tool reference point causes collision risk even if alarm clears. Verify with machine builder documentation.

Check secondary axis for dual-rotary machines

If machine has two rotary axes, verify MPs 7510-7519 for second axis. Axis vectors must be perpendicular (dot product = 0) for swivel/tilt combinations unless machine has special geometry.

For AC or BC configurations, verify that axis vectors are truly orthogonal in the kinematic chain, not just the physical axis orientation.

Validate with kinematic simulation

Use the control's built-in kinematic simulation (if available in Programming/Test mode) to visualize the configured geometry before committing to machine operation.

Verify axis name assignments

Check MP100-MP108 for axis name assignments (0=X, 1=Y, 2=Z, 3=U, 4=V, 5=W, 6=A, 7=B, 8=C). Ensure rotary axes referenced in MP7500+ range are properly defined as rotary (6/7/8) not linear.

Changing axis assignments affects all NC programs and preset tables. Document current configuration before modifications.

Check axis channel assignment

Review MP110-MP118 to verify all axes involved in the kinematic transformation are assigned to the same channel. Multi-channel configurations require special handling in kinematic definitions.

On multi-channel machines, kinematic transformations typically operate within a single channel. Cross-channel kinematics requires specific enabling in MP7520+.

Confirm modulo axis settings

For rotary axes, verify MP130-MP138 modulo settings. Typically rotary axes should be set to 360 degrees. Incorrect modulo can cause kinematic calculation errors.

Some machine builders use 0-360 range (MP130=360) while others use ±180 range (MP130=0). Match the setting to the kinematic parameter expectations.