Siemens SINUMERIK 840D sl Function Manual page 78

F2: Multi-axis transformations
1.7 Generic 5-axis transformation and variants
Activation
The following machine data not only activates the function, but also sets the permitted
coordinate systems.
MD21106 $MC_CART_JOG_SYSTEM (coordinate systems for Cartesian JOG)
The following setting data sets the virtual kinematics used for traversing motion of the
orientation:
SD42660 $SC_ORI_JOG_MODE (definition of virtual kinematics for JOG)
As opposed to the generic 5-/6-axis transformation, only kinematics can be set in which the
rotary axes are perpendicular to one another.
The traversing of the geometry and orientation axes is performed via the VDI interface signals
of the geometry or orientation axes.
Translations
A translatory movement can be used to move the tool tip (TCP) 3-dimensionally in parallel to
the axes of the set reference system. Traversing is performed via the VDI interface signals of
the geometry axes.
Note
For further information about the representation of the translations for the Cartesian manual
travel in the corresponding coordinate systems, see:
References:
Function Manual Extension Functions; Kinematic Transformation (M1)
Tool orientation
The tool can be aligned to the workpiece surface via an orientation movement. The motion of
the orientation axes is triggered by the PLC via the VDI interface signals of the orientation
axes. The virtual orientation axes execute rotations around the fixed directions of the relevant
reference system. Virtual kinematics is defined by the following setting data via the active
transformation:
SD42660 $SC_ORI_JOG_MODE = 0
Rotations of the orientations
Rotation of the orientation axes is defined by additional settings of the following setting data:
SD42660_$MC_ORI_JOG_MODE
The options are as follows:
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Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions