Constraints and limitations

The following constraints apply to the use of coupling kinematics

• A maximum of 3 kinematics can be part of a coupling kinematic.
• A maximum of 3 kinematics can be configured in each group.
• A maximum of 2 groups can be configured.
• The programmed TCP is always assigned to the first group (Index 0).
• Only one programmed TCP can be configured.
• In manual mode (G200), TCP axes and a partial kinematic may not be moved simultaneously if they have the same degree of freedom (e.g. motion in X direction). Otherwise, the warning ID 51065 is output.

Functional constraints of the CNC

The following CNC functions cannot be used when a coupling kinematic is active. They are suppressed and a related error message is output:

• Manual mode with parallel interpolation (G201) (ID 22092)
• Multi-step transformations
• Coupling kinematic must be placed at step 0, otherwise the error ID 22381 is output (as of V3.1.3131.0).
• CNC Builds before V3.1.3131.0 are generally ID 22093 not allowed
• 2-path programming (ID 22094)
• Homing with TCP axes (ID 22091)
• PTP contouring mode, use of-#CONTOUR MODE[PTP ..] (ID 22122)