Siemens SINUMERIK 840DE sl Function Manual page 12

Table of contents
3.10.5 Orientation transformation and orientable tool holders ........................................................217
3.10.6 Modulo display of orientation axes.......................................................................................218
3.11 Orientation vectors ...............................................................................................................219
3.11.1 Polynomial interpolation of orientation vectors.....................................................................219
3.11.2 Rotations of orientation vector .............................................................................................223
3.11.3 Extended interpolation of orientation axes ...........................................................................227
3.12 Online tool length offset .......................................................................................................231
3.13 Examples .............................................................................................................................235
3.13.1 Example of a 5-axis transformation......................................................................................235
3.13.2 Example of a 3-axis and 4-axis transformation ....................................................................238
3.13.2.1 Example of a 3-axis transformation......................................................................................238
3.13.2.2 Example of a 4-axis transformation......................................................................................238
3.13.3 Example of a universal milling head.....................................................................................238
3.13.4 Example for orientation axes................................................................................................240
3.13.5 Examples for orientation vectors..........................................................................................242
3.13.5.1 Example for polynomial interpretation of orientation vectors ...............................................242
3.13.5.2 Example of rotations of orientation vector............................................................................243
3.13.6 Examples for generic axis transformations ..........................................................................243
3.13.6.1 Example of generic 5-axis transformation............................................................................243
3.13.6.2 Example of a generic 6-axis transformation.........................................................................245
3.13.6.3 Example of a generic 7-axis transformation.........................................................................246
3.13.6.4 Example for the modification of rotary axis motion ..............................................................247
3.14 Data lists ..............................................................................................................................247
3.14.1 Machine data........................................................................................................................247
3.14.1.1 General machine data..........................................................................................................247
3.14.1.2 Channelspecific machine data .............................................................................................248
3.14.1.3 Channelspecific machine data .............................................................................................251
3.14.2 Setting data ..........................................................................................................................254
3.14.2.1 General setting data.............................................................................................................254
3.14.2.2 Channelspecific setting data ................................................................................................254
4 K12 transformation definitions with kinematic chains ...............................................................................255
4.1 Function description .............................................................................................................255
4.1.1 Characteristics .....................................................................................................................255
4.1.2 Definition of kinematic transformations ................................................................................256
4.1.3 Dynamic orientation transformation TRAORI_DYN .............................................................258
4.1.4 Face end transformation TRANSMIT...................................................................................262
4.1.5 Cylinder surface transformation TRACYL ............................................................................265
4.1.6 Oblique angle transformation (inclined axis) TRAANG_K....................................................269
4.1.7 Static orientation transformation TRAORI_STAT.................................................................270
4.1.8 Concatenating transformations (TRACON_K) .....................................................................270
4.1.9 Effective transformations upon reset....................................................................................271
4.1.10 Persistent transformations ...................................................................................................271
4.1.11 Simulation/simultaneous recording with kinematic chains ...................................................272
4.1.12 Migration of kinematic transformations ................................................................................272
4.1.13 Frames for kinematic transformations..................................................................................273
4.1.14 Tool lengths..........................................................................................................................274
4.2 Commissioning.....................................................................................................................274
4.2.1 General ................................................................................................................................274
4.2.1.1 Overview ..............................................................................................................................274
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Function Manual, 06/2019, A5E47435470B AA
Transformations