Siemens SINUMERIK 840DE sl Function Manual page 116

M1: Kinematics transformation
2.7 Cartesian manual traversing (option)
Function
The "Cartesian manual travel" function, as a reference system for JOG mode, allows axes to
be set independently of each other in the following Cartesian coordinate systems:
● Basic coordinate system (BCS)
● Workpiece coordinate system (WCS)
● Tool coordinate system (TCS)
Adjustment and activation is done using machine data:
MD21106 $MC_CART_JOG_SYSTEM (coordinate systems for Cartesian JOG)
Bit
0
1
2
Note
The workpiece coordinate system has been shifted and rotated compared to the basic
coordinate system via frames.
Further information:
Function Manual Basic Functions; Axes, coordinate systems, frames
Representation of the reference points in the coordinate system:
Selecting reference systems
For JOG motion, one of the three reference systems can be specified separately not only for
the translation (coarse offset) with geometry axes, but also for the orientation with orientation
axes via the following setting data:
SD42650 $SC_CART_JOG_MODE
If more than one bit is set for the translation or orientation reference system, or when an attempt
is made to set a reference system which was not released by the MD21106
$MC_CART_JOG_SYSTEM, the alarm 14148 "Reference system for Cartesian manual travel
not allowed" will be generated.
Translation
A translation movement can be used to move the tool center point (TCP) in parallel and 3-
dimensional to the axes of the reference system. The traversing movement is made via the VDI
signals of the geometry axes.
116
Meaning
Basic coordinate system
Workpiece coordinate system
Tool coordinate system
Workpiece zero Tool carrier reference point
Function Manual, 06/2019, A5E47435470B AA
Transformations