Example Of A Generic 7-Axis Transformation - Siemens SINUMERIK 840D sl Function Manual

F2: Multi-axis transformations
1.13 Examples
An orthogonalization is therfore not necessary, and therefore the programmed orientation
normal vector is not modified.
N100
N110
N120
N130
N140
N150
N160
N170
N180
N200
N210
N220
N230
N240
1.13.6.2

Example of a generic 7-axis transformation

Example of a generic 7-axis transformation
Activation of a 7-axis transformation with subsequent orientation changes and traversing:
Program
N10 TRAFOOF
N20 a0 b0 c0 x0 y0 z0 e=0
N30 $MC_TRAFO5_AXIS1_1[2] = 1
N40 $MC_TRAFO5_AXIS1_2[0] = 1
N50 $MC_TRAFO5_AXIS1_3[2] = 1
N60 $MC_TRAFO7_EXT_AXIS1_1[0] = 1
N70 $MC_TRAFO_BASE_ORIENT_1[2] = 1
N80 $MC_TRAFO_BASE_ORIENT_NORMAL_1[1] = 1
N90 NEWCONF
N100 traori()
N110 G1 t1 d1 x10 y0 z50 c3=1 an3=1 bn3=1
orivect oriwks G19 F10000
N120 G2 y50 z0 b3=1 e=DC(90) CR=50
N130 G2 y0 z–50 c3=–1 e=DC(180) CR=50
N140 G2 y–50 z0 b3=–1 e=DC(270) CR=50
N150 G2 y0 z50 c3=1 e=DC(0) CR=50
N200 M30
136
$TC_DP1[2,2] = 120
$TC_DP3[2,2]= 20
$TC_DPV [2,2] = 0
$TC_DPV3[2,2] = 1
$TC_DPV4[2,2] = 0
$TC_DPV5[2,2]= 0.5
$TC_DPVN3[2,2]= 0
$TC_DPVN4[2,2]= 1
$TC_DPVN5[2,2]= 0
TRAORI()
A3=5 C3=10 BN3=1
C3=1
THETA=IC(90)
M30
; End mill
; Length offset vector
; Tool cutting edge orientation
; X component tool cutting edge orientation.
; Y component tool cutting edge orientation
; Z component tool cutting edge orientation
: X component orientation normal vector
; Y component orientation normal vector
; Z component orientation normal vector
; pass on basic orientation
; Get rotary axes in initial state
; Orientation in Z direction → tool
; rotates 26.565 degrees
; Rotate orientation normal vector
; incrementally by 90 degrees
;. Vector points in negative
; X direction
Comment
; 1. Rotary axis shows in Z direction
; 2. Rotary axis shows in X direction
; 3. Rotary axis shows in Z direction
; 7. Axis shows in X direction
; Orientation vector
; Orientation normal vector
; 1. Quadrant
; 2. Quadrant
; 3. Quadrant
; 4. Quadrant
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions