Programming - Siemens SINUMERIK 840DE sl Function Manual

M1: Kinematics transformation
2.4 Chained transformations
2.4.2

Programming

A configured concatenated (chained) transformation is activated in the part program or
synchronized action using the TRACON statement.
Syntax
TRACON(<Trafo_No>,<Par_1>,...,<Par_n>,<Par_n+1>)
...
TRAFOOF
Meaning
TRACON:
<Trafo_No>:
<Par_1>, ..., <Par_n>,
<Par_n+1>:
TRAFOOF:
86
Activate concatenated transformation
If another transformation was previously activated, it is implicitly dis‐
abled by means of TRACON().
Number of the concatenated transformation:
Type: INT
Range of val‐ 0 ... 2
ues:
Value: 0, 1
2
Not
speci‐
fied
Note:
Values not equal to 0, 1, 2 generate an error
alarm.
Parameters for the concatenated transformations
<Par_1>, ..., <Par_n>
<Par_n+1>
If parameters are not set, the defaults or the parameters last used
take effect. Commas must be used to ensure that the specified pa‐
rameters are evaluated in the sequence in which they are expected,
if default settings are to be effective for previous parameters. In
particular, a comma is required before at least one parameter, even
though it is not necessary to specify <Trafo_No> - for example TRA‐
CON( , 3.7).
Deactivate the last activated (concatenated) transformation
First/only concatenated transformation
Second concatenated transformation
Same meaning as with 0 or 1
Parameters of the first transforma‐
tion in the chain
The actual number depends on
the transformation type:
● TRAORI: 2 parameters
● TRACYL: 1 to 2 parameters
Parameters of the second transfor‐
mation in the chain (TRAANG)
≙ angle of the inclined axis
Function Manual, 06/2019, A5E47435470B AA
Transformations