Siemens SINUMERIK 840D sl Function Manual page 74

F2: Multi-axis transformations
2.7 Generic 5-axis transformation and variants
Configuration
For configuration of a 6-axis transformation the extensions of the following machine data are
required:
● The channel axis index of the 3rd rotary axis must be entered in the following machine data:
MD24110 $MC_TRAFO_AXES_IN_1[5] (axis assignment for transformation)
● The direction of the 3rd rotary axis must be specified in the following machine data:
MD24573 $MC_TRAFO5_AXIS3_1[0..2] (direction 3rd rotary axis)
● An orientation normal vector with a length not equal to zero and which is not parallel or anti-
parallel to the orientation vector defined in machine data MD24574
$MC_TRAFO5_BASE_ORIENT_1[0..2] (basic tool orientation), must be specified in
machine data MD24576 $MC_TRAFO6_BASE_ORIENT_NORMAL_1[0..2] (tool normal
vector).
The previous offsets (vector):
● MD24550 $MC_TRAFO5_BASE_TOOL_1[0..2]
(vector of the basic tool with activation of the 5-axis transformation) 1)
● MD24560 $MC_TRAFO5_JOINT_OFFSET_1[0..2]
(vector of the kinematic offset of 5-axis transformation 1)
● MD24558 $MC_TRAFO5_JOINT_OFFSET_PART_1[0..2]
(vector of kinematic offset in table)
● MD24500 $MC_TRAFO5_PART_OFFSET_1[0..2]
(translation vector 5-axis transformation 1)
The following machine data is added as new offset (vector), describing the offset between the
second and third rotary axis:
● MD24561 $MC_TRAFO6_JOINT_OFFSET_2_3_1[0..2]
(vector of kinematic offset)
Note
Existing machine data blocks are compatible for transfer, without any changes having to
be made in the machine data. The new machine data therefore do not have to be specified
for a 3-/4-/5-axis transformation.
Programming of orientation
With the extension of the generic orientation transformation to 6 axes, all three degrees of
freedom of the orientation can be freely selected. They can be uniquely defined through the
position of a rectangular Cartesian coordinate system. One axis direction, that of the third axis,
(typically in the Z direction) defines the orientation.
Two degrees of freedom are required for the specification of this direction. The third degree
of freedom is defined via a rotation around this direction, e.g. through the specification of an
angle THETA or a direction vector for one of the two other axes of the coordinate system, see
Section "Rotations of orientation vector (Page 114)").
The new addresses AN3, BN3, CN3 define the direction of the second axis, of the coordinate
system (typically the Y axis) of the orientation normal vector. The programmed orientation
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Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions