Siemens SINUMERIK 840D sl Function Manual page 16

Table of contents
12.4 Torque compensatory controller .............................................................................................. 512
12.5 Tension torque......................................................................................................................... 515
12.6 Activating a coupling................................................................................................................ 519
12.7 Response on activation/deactivation ....................................................................................... 521
12.8 Constraints............................................................................................................................... 524
12.8.1 Speed/torque coupling (SW 6 and higher) ............................................................................... 524
12.8.2 Axial NC/PLC interface signals ................................................................................................ 525
12.8.3 Interaction with other functions ................................................................................................ 526
12.9 Examples ................................................................................................................................. 532
12.9.1 Master-slave coupling between AX1=Master and AX2=Slave. ............................................... 532
12.9.2 Close coupling via the PLC ...................................................................................................... 532
12.9.3 Close/separate coupling via part program ............................................................................... 533
12.9.4 Release the mechanical brake ................................................................................................ 533
12.10 Data lists .................................................................................................................................. 535
12.10.1 Machine data ........................................................................................................................... 535
12.10.1.1Axis/spindle­specific machine data .......................................................................................... 535
12.10.2 System variables ..................................................................................................................... 535
12.10.3 Signals ..................................................................................................................................... 536
12.10.3.1Signals to axis/spindle ............................................................................................................. 536
12.10.3.2Signals from axis/spindle ......................................................................................................... 536
13 TE4: Transformation package handling ..................................................................................................537
13.1 Brief description ....................................................................................................................... 537
13.2 Kinematic transformation ......................................................................................................... 538
13.3 Definition of terms.................................................................................................................... 539
13.3.1 Units and directions ................................................................................................................. 539
13.3.2 Definition of positions and orientations using frames .............................................................. 539
13.3.3 Definition of a joint ................................................................................................................... 540
13.4 Configuration of a kinematic transformation ............................................................................ 542
13.4.1 General machine data ............................................................................................................. 542
13.4.2 Parameterization using geometry data .................................................................................... 543
13.5 Descriptions of kinematics ....................................................................................................... 555
13.5.1 3-axis kinematics ..................................................................................................................... 555
13.5.2 4-axis kinematics ..................................................................................................................... 563
13.5.3 5-axis kinematics ..................................................................................................................... 569
13.5.4 6-axis kinematics ..................................................................................................................... 573
13.5.5 Special kinematics ................................................................................................................... 573
13.6 Tool orientation ........................................................................................................................ 578
13.6.1 Tool orientation ........................................................................................................................ 578
13.6.2 Orientation programming for 4-axis kinematics ....................................................................... 581
13.6.3 Orientation programming for 5-axis kinematics ....................................................................... 581
13.7 Singular positions and how they are handled .......................................................................... 583
13.8 Call and application of the transformation ............................................................................... 584
13.9 Actual value display ................................................................................................................. 586
13.10 Tool programming.................................................................................................................... 587
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Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions