Example For The Modification Of Rotary Axis Motion; Data Lists; Machine Data; General Machine Data - Siemens SINUMERIK 840DE sl Function Manual

Note
While traversing the quadrant in the example, only the 7th axis turns by 360 degrees. The
machine remains in the fixed position.
3.13.6.4

Example for the modification of rotary axis motion

The machine is a 5-axis machine of machine type 1 (two-axis swivel head with CA kinematics)
on which both rotary axes rotate the tool (transformation type 24). The first rotary axis is a
modulo axis parallel to Z (C axis); the second rotary axis is parallel to Y (B axis) and has a
traversing range from -5 degrees to +185 degrees.
To allow modification at any time, the following machine data has the value 2:
MD21180 $MC_ROT_AX_SWL_CHECK_MODE (check software limits for orientation axes)
N10 X0 Y0 Z0 B0 C0
N20 TRAORI( )
N30 B-1 C10
N40 A3=-1 C3=1 ORIWKS
N50 M30
At the start of block N40 in the example program, the machine is positioned at rotary axis
positions B-1 C10. The programmed end orientation can be achieved with either of the axis
positions B-45 C0 (1st solution) or B45 C180 (2nd solution).
The first solution is selected initially, because it is nearest to the starting orientation and, unlike
the second solution, can be achieved using large circle interpolation (ORIWKS). However, this
position cannot be reached because of the axis limits of the B axis.
The second solution is therefore used instead, i.e. the end position is B45 C180. The end
orientation is achieved by axis interpolation. The programmed orientation path cannot be
followed.
3.14

Data lists

3.14.1

Machine data

3.14.1.1

General machine data

Number Identifier: $MN_
10620 EULER_ANGLE_NAME_TAB
10630 NORMAL_VECTOR_NAME_TAB
10640 DIR_VECTOR_NAME_TAB
Transformations
Function Manual, 06/2019, A5E47435470B AA
F2: Multi-axis transformations
; basic orientation 5-axis transformation
; Rotary axis positions B-1 and C10
; large circle interpolation in WCS
Description
Name of Euler angles or names of orientation axes
Name of normal vectors
Name of direction vectors
3.14 Data lists
247