221-0075

Access Kinematic Parameters

Press MOD key → Machine Parameters → select 'All Parameters' filter → navigate to MP71600 series (Kinematic Configuration)

Document current values before making changes - use PLC backup function or photograph each screen

Verify Rotary Axis Geometry

Check MP71660-MP71669 for each rotary axis (A, B, C). Verify center point coordinates and pivot vectors are non-zero and match machine mechanical design specifications from manufacturer

Incorrect center point definitions will cause collision risk even if alarm clears

Validate Kinematic Chain

Review MP71600 (kinematic model type: 0=standard, 1=tilting table, 2=swivel head, etc.). Ensure subsequent MP71601-MP71605 match the selected model type with correct axis assignments

For 5-axis machines, the sequence in MP71601-71605 defines transformation order - must match physical machine architecture

Test Kinematic Validity

After corrections, perform control restart (emergency stop while holding MOD key for clean boot). Verify alarm clears and test with simple rotary movement in Manual mode

Always test at reduced feedrate (F100-500) after kinematic changes to verify correct transformation behavior

Identify Machine Configuration

Determine actual machine type: tilting rotary table (workpiece rotates), swivel head (spindle rotates), or mixed. Reference machine manufacturer nameplate or commissioning documentation

Table-table configurations use different kinematic models than head-head or table-head combinations

Set Correct Kinematic Type

In MP71600, enter correct value: 0=standard XYZ, 1=tilting table (C+A or B), 2=swivel head (B+C), 3=mixed configuration. Consult machine-specific parameter documentation for exact coding

Changing MP71600 requires complete reconfiguration of MP71601-71670 parameter series

Configure Axis Assignment

Set MP71601-71605 to assign physical axes to kinematic positions. For tilting table: typically Z=71601, Y=71602, X=71603, C=71604, A or B=71605. Values reference axis numbers from MP100x

Axis number in MP71601-05 must match the axis channel number defined in MP100-MP106

Verify and Restart

Save parameters, perform full control restart. Check that no additional alarms appear. Test axis movement in Machine Coordinate System before attempting workpiece coordinate programming

Audit Parameter Completeness

Check all MP71xxx parameters from 71600-71690. Look for blank fields, zero values where geometry data should exist, or parameters that were not transferred during control replacement

Compare with sister machines or request parameter backup file from machine tool builder - most maintain commissioning archives

Populate Missing Parameters

Enter missing values from machine manufacturer documentation. Critical parameters: MP71600 (type), MP71601-05 (axis assignment), MP71660-69 (center points), MP71670-79 (direction vectors)

Never guess at kinematic parameters - incorrect values create crash hazards that override software protection

Cross-Reference Tool Length

Verify MP7162x parameters (tool reference point to rotary axis) are defined. These establish the relationship between tool tip and rotation centers for TCP (Tool Center Point) functionality

For machines without TCP, some MP7162x parameters may be intentionally zero - verify against machine capabilities

Validate Configuration

After completing parameter entry, use TNC Test Run function with simple 5-axis program to verify kinematic calculations produce expected tool path. Monitor axis positions during simulation