K12 Transformation Definitions With Kinematic Chains; Function Description; Characteristics - Siemens SINUMERIK 840DE sl Function Manual

K12 transformation definitions with kinematic chains

4.1

Function description

4.1.1

Characteristics

In this chapter, a description is provided as to how transformations are mapped using a
kinematic chain and parameterized in the control system using system variables. The system
variables are retentatively saved in the NC and can be archived and/or read as "NC data" via
SINUMERIK Operate using the commissioning archive.
Transformations via kinematic chains
The machine kinematics relevant to kinematic transformations is described by two kinematic
chains:
● One chain points from the machine zero point (zero point of the world coordinate system) to
the workpiece reference point (part segment).
● The other chain points from the machine zero point to the tool reference point (tool
segment).
One of the two chains can also be empty (for pure table or tool kinematics).
Figure 4-1
Both kinematic chains are merged internally into a single kinematic chain, which, by definition,
begins at the workpiece reference point and ends at the tool reference point.
Transformations
Function Manual, 06/2019, A5E47435470B AA
Definition of a transformation via kinematic chains
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