# Kinematics Setup

The Kinematics Setup form in NC Gage 2.0 provides a way to view the rotary configuration information and can be used to edit certain features of the rotary axes configuration settings as described below. The rotary table information should initially be defined in the Machine Configuration Tool. The Kinematics Setup page can be Password protected to prevent unauthorized changes. This screen is only available when at least one rotary table is configured for the system within the Machine Configuration Tool utility.

The following parameters should be defined within the Machine Configuration Tool that the machine interface must know to control prior to starting up the NC Gage application:

- Axis: Defines the system X, Y, Z, A, B or C axes.

- Offset: Defines the index into the system variable tables for the axis.

- Axis Type: Select Linear, Rotary Table and Wrist options. A future version will provide the option of Spindle Axes.

- Start and End Limits: Define the range of motion allowed.

- Unlock and Lock the Axis: These user defined strings define the commands that are used to unlock (or unclamp) the axis prior to movement and lock (or clamp) the axis after movement. These strings are optional.

- Rotary Table Stacking Order: If more than one rotary table is defined, the stacking order of the rotary tables must be specified. The options are hidden until two rotary tables have been defined in the axis table. The options for the drop-down selection will be derived from the two axes defined in the table. Internally, NC Gage will keep this setting by saving the “dominant” axis. The dominant axis is the “lower” table (axis A in the image below.)

1. Press the Setup soft key from the Main screen.

2. Press the Kinematics Setup soft key from the Setup screen to display the Kinematics Setup screen.

NC Gage Kinematics Setup page displays the Axis and Axis Type values defined in the Machine Configuration Tool and cannot be edited within the NC Gage interface screen.

The user can edit the Start and End Limits and the Rotary Table Stacking Order on this form or from within the Machine Configuration Tool.

The NC Gage Kinematics Setup form will allow the user to define the values that are needed for the following kinematic transformations:

- Pivot Point: This can be any point on the axis of rotation.

- Pivot Rotation Vector: Defines the direction of the axis of rotation.

- Clockwise Rotation: The direction of travel defines the direction that the tables spin for positive increments. Selecting Yes from the drop-down list will cause the rotation to be in the clockwise direction. Selecting No will cause the rotation to be counter-clockwise.

Follow the on-screen instructions then press the Confirm soft key to complete the Kinematics Setup procedure. Press the Return soft key to return to the previous screen without saving.