Siemens Sinumerik 840D sl Programming Manual page 326

Transformations
6.1 General programming of transformation types
TRACYL
Machining of grooves with
any path on cylindrical
bodies
TRAANG
Machining with an oblique
infeed axis
Cartesian PTP travel
The machine moves in machine coordinates and is programmed with:
TRAORI
PTP Point-to-point motion
CP
STAT
TU
PTP transversal with generic 5/6-axis transformation
The machine is moved using machine coordinates and the tool orientation, where the
movements can be programmed both using round axis positions and using Euler and/or RPY
angle vectors irrespective of the kinematics or the direction vectors.
Round axis interpolation, vector interpolation with large circle interpolation or interpolation of
the orientation vector on a peripheral surface of a taper are possible in such cases.
Example: Three- to five-axis transformation on a universal milling head
The machine tool has at least five axes:
• Three translatory axes for movements in straight lines, which move the operating point to
any position in the working area.
• Two rotary swivel axes arranged at a configurable angle (usually 45 degrees) allow the
tool to swivel to positions in space that are limited to a half sphere in a 45-degree
configuration.
326
Activation of the cylinder surface transformation
A rotary axis
An infeed axis vertical to the axis of rotation
A longitudinal axis parallel to the axis of rotation
Activation of the inclined axis transformation
A rotary axis
An infeed axis with parameterizable angle
A longitudinal axis parallel to the axis of rotation
Activation of transformation
Approach position in Cartesian coordinate system (MCS)
Path motion of Cartesian axes in (BCS)
Position of the articulated joints is dependent on the
transformation
The angle at which the axes traverse on the shortest path
Programming Manual, 02/2011, 6FC5398-2BP40-1BA0
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