Siemens SINUMERIK 840D sl Function Manual page 553

Example
The example (Fig. "Matching mathematical and mechanical zero points") shows an
articulated arm kinematic. The mathematical zero point for axis 2 is 90º. This value must be
set for axis 2 in machine data:
MD62617 $MC_TRAFO6_MAMES[1] (offset between mathematical and mechanical zero
points)
Axis 3 is counted relative to axis 2 and therefore has a value of -90º as a mathematical zero
point.
Figure 13-11 Matching mathematical and mechanical zero points
Axis types
MD62601
Which axis type is handled is specified in machine data:
MD62601 $MC_TRAFO6_AXES_TYPE (axis type for transformation [axis no.]: 0...5)
The transformation package distinguishes between the following axis types:
• Linear axis
• Rotary axis
Velocities and acceleration rates
Separate velocities for the Cartesian movement components are introduced for axes that are
traversed with G00 and active transformation.
The velocity is preset via path feed F for axis traversal with G01 or G02.
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
TE4: Transformation package handling
13.4 Configuration of a kinematic transformation
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