Full RTCP (M128)

Machines using the advanced Heidenhain controllers support a full RTCP correction mechanism, where the machine controller full corrects the tool tip position for every rotation of the head or the table.

Full RTCP goes beyond the corrections of head RTCP and table RTCP explained above. It also corrects for the rotation of the REF UCS (in rotating table machines), so that GPP2 does not have to make any changes to tool tip coordinates as a result of the axes rotations.

In such machines, it is common to turn this feature on and off on the machine. GPP2 must always stay in synch with the machine RTCP status. In order to turn on the full RTCP in GPP2, the M5_RTCP_M128 is set to TRUE_. To turn it off, the variable is set to FALSE_. The variable can be set dynamically during the run - GPP2 will adjust its output accordingly.

The following diagrams demonstrate the differences between standard GPP2 output (no RTCP at all), table RTCP (correction of the zero point) and full RTCP (M128, rotation of the coordinate system itself).