Siemens SINUMERIK 840DE sl Function Manual page 180

F2: Multi-axis transformations
3.7 Generic 5-axis transformation and variants
Parameter assignment: Transformation type
The transformation type is set on a channel-for-channel basis using:
$MC_TRAFO_TYPE_<x> = <transformation type>
The transformation type to be set is obtained from the machine type and/or the allocation of the
three rotary axes regarding tool and workpiece orientation:
<Transformation type>
Workpieceorientation
The first rotary axis of the transformation is the rotary axis that in the kinematic chain is located next
1)
for the workpiece.
The third rotary axis of the transformation is the rotary axis that in the kinematic chain is located next
for the tool.
When the second rotary axis traverses, then the third rotary axis is also moved.
The second rotary axis of the transformation is the rotary axis that in the kinematic chain is located next
2)
for the workpiece.
The third rotary axis of the transformation is the rotary axis that in the kinematic chain is located next
for the tool.
When the first rotary axis traverses, then the third rotary axis is also moved.
The first rotary axis of the transformation is the rotary axis that in the kinematic chain is located next
3)
for the tool.
The third rotary axis of the transformation is the rotary axis that in the kinematic chain is located next
for the workpiece.
When the second rotary axis traverses, then the third rotary axis is also moved.
Note
Using transformation types 24, 40, 56 and 57, only those kinematics are formed, where the
three linear axes of the transformation form a right-handed Cartesian coordinate system - and,
there is no rotary axis between the linear axes in the kinematic chain.
Parameter assignment: Offset vectors for transformation type 57
For transformation type 57, the same as for rotary axes, the offset vectors are to be specified
starting from the tool to the workpiece zero:
Offset
Tool tip → rotary axis 1
Rotary axis 1 → rotary axis 2
Rotary axis 2 → rotary axis 3
Rotary axis 3 → workpiece zero
Parameter assignment: Channel axis number of the 3rd rotary axis
The channel axis number of the third rotary axis is set in:
$MC_TRAFO_AXES_IN_<x>[ 5 ] = <channel axis number of the third rotary axis>
180
Machine type
Tool orientation 3 rotary axes
24 40
1) 1)
1 2
---
--- 3 rotary axes
Machine data
$MC_TRAFO5_BASE_TOOL_<x>[ 0 ... 2 ]
$MC_TRAFO5_JOINT_OFFSET_<x>[ 0 ... 2 ]
$MC_TRAFO6_JOINT_OFFSET_2_3_<x>[ 0 ... 2 ]
$MC_TRAFO5_PART_OFFSET_<x>[ 0 ... 2 ]
56
2)
3
2 rotary axes
1 rotary axis
Function Manual, 06/2019, A5E47435470B AA
57
3)
4
1 rotary axis
2 rotary axes
Transformations