221-000F

Access machine configuration directory

Navigate to MOD function → System Files → TNC:\system\ and locate the KinematicsOpt.conf file. Press EDIT key to open in text editor mode.

Always create a backup copy before editing any configuration file - use COPY function to save to USB or alternate directory.

Check kinematic type definition

Verify [TYPE] section contains valid kinematic model (e.g., TYPE_5X_HEAD, TYPE_5X_TABLE, TYPE_MILL_TURN). Ensure TYPE matches actual machine construction and axis configuration.

Incorrect TYPE selection can cause calculation errors or dangerous machine movements even if alarm clears.

Validate pivot point coordinates

Review [PIVOT_POINT] section for each rotary axis. Check that X, Y, Z coordinates represent actual mechanical pivot point location in machine coordinate system. Values must be in millimeters and referenced from machine zero.

Use the machine documentation or contact OEM for exact pivot point values - these are machine-specific and cannot be estimated.

Verify axis vector definitions

Check [BASE_VECTOR] and [DIRECTION_VECTOR] entries for rotation axes. Vectors must be orthogonal (perpendicular), unit length, and represent actual axis orientation. Common error: copy-paste errors creating duplicate or zero vectors.

For standard configurations: C-axis typically has direction vector [0,0,1], A-axis uses [1,0,0], B-axis uses [0,1,0].

Restore from backup if necessary

If errors cannot be identified, restore KinematicsOpt.conf from TNC:\backup\ directory or from OEM-supplied configuration USB. After restoration, perform control reboot and verify kinematic operation with M128 (kinematic active) in MDI.

Never use kinematic configuration files from different machine models - each configuration is machine-specific.

Verify vector orthogonality

In KinematicsOpt.conf, check that BASE_VECTOR and DIRECTION_VECTOR for each rotation axis are perpendicular. Calculate dot product (should equal zero): (x1*x2 + y1*y2 + z1*z2) = 0.

Use Heidenhain's KinematicsDesign software (if available) to validate transformation parameters before implementation.

Check vector normalization

Verify all direction vectors have length of 1.0. Calculate: sqrt(x² + y² + z²) = 1.0. Non-normalized vectors will cause transformation scaling errors.

Common mistake: entering direction vectors as axis travel distances rather than unit vectors.

Validate pivot point logic

Ensure pivot points are mechanically logical. For head kinematics, pivot points should be in or near spindle. For table kinematics, pivot points should be in/on rotary table. Extreme values (>10000 mm) often indicate data entry errors.

Incorrect pivot points create positional errors that increase with distance from machine zero - extremely dangerous for collision avoidance.

Test with simplified configuration

Temporarily configure as 3-axis machine (remove kinematic sections) to verify control operation. If successful, re-add kinematic parameters one axis at a time to isolate problematic definition.

This divide-and-conquer approach quickly identifies which specific rotation axis configuration contains the error.

Review machine.cfg axis definitions

In MOD → Machine Config → CfgAxes, verify all rotation axes (A, B, C) referenced in KinematicsOpt.conf are properly defined with correct axis type (Rotation axis) and modulo settings (typically 360 degrees).

Axis must exist in machine.cfg BEFORE it can be used in kinematic transformation.