Siemens SINUMERIK Series Function Manual page 416

M1: Kinematic transformation
6.8 Activating transformation machine data via part program/softkey
Orientation transformations
Machine data which are relevant for orientation transformations:
● MD24550 $MC_TRAFO5_BASE_TOOL_1 and
● MD24558 $MC_TRAFO5_JOINT_OFFSET_1 and
● MD24500 $MC_TRAFO5_PART_OFFSET_1 and
● MD24510 $MC_TRAFO5_ROT_AX_OFFSET_1 and
● MD24520 $MC_TRAFO5_ROT_SIGN_IS_PLUS_1 and
● MD 24530: TRAFO5_NON_POLE_LIMIT_1 and
● MD24540 $MC_TRAFO5_POLE_LIMIT_1 and
● MD24570 $MC_TRAFO5_AXIS1_1 and
● MD24572 $MC_RAFO5_AXIS2_1 and
● MD24574 $MC_TRAFO5_BASE_ORIENT_1 and
● MD24562 $MC_TRAFO5_TOOL_ROT_AX_OFFSET_1 and
● MD24564 $MC_TRAFO5_NUTATOR_AX_ANGLE_1 and
● MD24566 $MC_TRAFO5_NUTATOR_VIRT_ORIAX_1 and
Transmit transformations
Machine data which are relevant for Transmit transformations:
● MD24920 $MC_TRANSMIT_BASE_TOOL_1 and
● MD24900 $MC_TRANSMIT_ROT_AX_OFFSET_1 and
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MD24650 $MC_TRAFO5_BASE_TOOL_2
MD24658 $MC_TRAFO5_JOINT_OFFSET_2
MD24600 $MC_TRAFO5_PART_OFFSET_2
MD24610 $MC_TRAFO5_ROT_AX_OFFSET_2
MD24620 $MC_TRAFO5_ROT_SIGN_IS_PLUS_2
MD24630 $MC_TRAFO5_NON_POLE_LIMIT_2
MD24640 $MC_TRAFO5_POLE_LIMIT_2
MD24670 $MC_TRAFO5_AXIS1_2
MD24672 $MC_TRAFO5_AXIS2_2
MD24674 $MC_TRAFO5_BASE_ORIENT_2
MD24662 $MC_TRAFO5_TOOL_ROT_AX_OFFSET_2
MD24664 $MC_TRAFO5_NUTATOR_AX_ANGLE_2
MD24666 $MC_TRAFO5_NUTATOR_VIRT_ORIAX_2
MD24970 $MC_TRANSMIT_BASE_TOOL_2
MD24950 $MC_TRANSMIT_ROT_AX_OFFSET_2
Function Manual, 03/2013, 6FC5397-1BP40-3BA1
Extended Functions