Static Orientation Transformation Traori_Stat; Concatenating Transformations (Tracon_K) - Siemens SINUMERIK 840DE sl Function Manual

K12 transformation definitions with kinematic chains
4.1 Function description
4.1.7

Static orientation transformation TRAORI_STAT

Static orientation transformations differ from dynamic orientation transmissions in that it is not
possible to carry out interpolator compensating movements in such a way that the tool tip
adheres to the path programmed in the NC program in the workpiece coordinate system.
However, all of the functions are available for approaching the correct end points, taking the
required compensation movements into consideration.
A static orientation formation makes sense for machines in which the orientation is fixed once
it is set and cannot be changed during the process, for example when rotating on a milling
machine.
The static orientation transformation is defined using the same system variables as a dynamic
orientation transformation, see Dynamic orientation transformation TRAORI_DYN and
Definition of kinematic transformations (Page 256).
Axes for a static orientation transformation
The orientation axes of static orientation transformations can also be spindles or Hirth-coupled
axes. Spindles behave like constant kinematic rotations, i.e. if a position is to be assigned to
them in the kinematic transformation, this must be entered in the associated system
parameters $NK_A_OFF[n].
The type "Static orientation transformation" is activated via the system variable
§NT_TRAFO_TYPE = TRAORI_STAT.
System variables for the definition of the static orientation transformation
The machine kinematics are defined via the kinematic chain, see Definition of kinematic
transformations (Page 256).
The static orientation transformation is defined via the following system variables:
● System variables for general transformation types (Page 278)
● Additive system variable for orientation transformation (Page 303)
Reference
Information on orientable tool carriers via kinematic chains can be found in the "Basic
Functions" Function Manual in section "Tool offset" under "Orientable tool carriers".
See also
Dynamic orientation transformation TRAORI_DYN (Page 258)
4.1.8

Concatenating transformations (TRACON_K)

In transformations with kinematic chains, non-orthogonal axes can be defined via the kinematic
chain. This means that transformations no longer have to be concatenated with TRACON to
map non-orthogonal axes.
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Transformations