TE4: Handling transformation package - 840D sl only
17.14 Data lists
Singularities
A pole cannot be directly passed through when a transformation is active.
NOTICE
Traversing close to the pole
When traversing close to the pole, the axes involved can be overloaded. This is because the
control does not automatically reduce or limit the feedrate, acceleration or jerk. As a
consequence, the user is responsible in limiting the feedrate of the axes involved and/or the
clearance to the pole.
17.14
Data lists
17.14.1
Machine data
17.14.1.1
General machine data
Number
Identifier: $MN_
10620
EULER_ANGLE_NAME_TAB[n]
19410
TRAFO_TYPE_MASK, bit 4
60943
CC_ACTIVE_IN_CHAN_RCTR
19610
TECHNO_EXTENSION_MASK
17.14.1.2
Channelspecific machine data
Number
Identifier: $MC_
21100
ORIENTATION_IS_EULER
21110
X_AXIS_IN_OLD_X_Z_PLANE
24100
TRAFO_TYPE_1
24110
TRAFO_AXES_IN_1
24120
TRAFO_GEOAX_ASSIGN_TAB_1
17.14.1.3
Channel-specific machine data for compile cycles
Number
Identifier: $MC_
62600
TRAFO6_KINCLASS
62601
TRAFO6_AXES_TYPE
686
Description
Name of Euler angle
Option data for OEM transformation
Activation of the handling transformation for the corre‐
sponding channels
Option data for handling transformation
Description
Angle definition for orientation programming
Coordinate system with automatic FRAME definition
Definition of transformation
Axis assignment for transformation 1
Assignment of geometry axes to channel axes
Description
Kinematic category
Axis type for transformation
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions