Siemens SINUMERIK 840DE sl Function Manual page 138

F2: Multi-axis transformations
3.1 Brief description
A selection of various transformations is available for adapting the control to various machine
kinematics. Part program commands can be issued in operation to switch over between two
transformations parameterized during start-up.
This package therefore covers the three possible basic machine configurations which differ in
terms of tool and workpiece orientation:
● Orientation of tool with two-axis swivel head (machine type 1)
● Orientation of workpiece with two-axis rotary table (machine type 2)
● Orientation of workpiece and tool with single-axis rotary table and swivel head (machine
type 3)
The calculation also includes tool length compensation.
Since the orientation in relation to the workpiece surface is stored in a separate FRAME, a tool
retraction operation with vertical orientation to the workpiece is also possible.
Tool orientation
Tool orientation can be specified in two ways:
● Machine-related orientation
The machine-related orientation is dependent on the machine kinematics.
● Workpiece-related orientation
The workpiece-related orientation is not dependent on the machine kinematics.
It is programmed by means of:
– Euler angles
– RPY angles
– Vector components
The direction of the tool is described in the workpiece coordinate system with the part
orientation. It is possible to program a specific component of the tool in its orientation to the
workpiece. In most cases, this will be a longitudinal axis of the tool with the tool tip (Tool
Center Point, TCP), which is also referred to as TCP-programming.
System variables for orientation
Part programs and synchronized actions can access the system variables that provide
information on the following, in read only mode:
● End orientation of block (run-in value)
● Setpoint orientation
● Actual value orientation
● Switching between setpoint and actual value orientation
● Status for variables of actual value orientation
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Function Manual, 06/2019, A5E47435470B AA
Transformations