Simulation/Simultaneous Recording With Kinematic Chains; Migration Of Kinematic Transformations - Siemens SINUMERIK 840DE sl Function Manual

K12 transformation definitions with kinematic chains
4.1 Function description
4.1.11

Simulation/simultaneous recording with kinematic chains

Machine data $MNS_FUNCTION_MASK_SIM
To correctly carry out the simulation and simultaneous recording, the machine data MD 51226
$MNS_FUNCTION_MASK_SIM Bit 22 must be set.
The transformations TRAORI_DYN, TRANSMIT_K, TRACYL_K and TRAANG_K are affected
by this.
4.1.12

Migration of kinematic transformations

Conventional transformations
Conventional transformations are understood to mean transformations that are defined via
machine data. These transformation definitions remain valid and can be used without
restrictions.
The variant available as of V4.8. SP2 also allows kinematic transformations to be defined via
kinematic chains and system variables.
Managing data only once
For the parallel use of conventional transformations and transformations via kinematic chains,
the problem occurs in which identical machine kinematics may be parameterized with different
NC data, namely, once with machine data and once with data from the system variables of the
kinematic chains and the transformations. As a result, inconsistencies in the data management
can occur.
Activating a transformation
The following functions are available for the activation of kinematic transformations:
● Syntax for transformations via kinematic chains: TRAFOON (Page 317) (<name>)
● Syntax for conventional transformations: TRAORI(...), TRANSMIT(...), TRACYL(...),
TRAANG(...).
Transformations which have been defined via kinematic chains can be called via the syntax for
conventional transformations.
To this end, the transformation that is to be called must be defined via the system variable
$NT_TRAFO_INDEX (Page 280).
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Function Manual, 06/2019, A5E47435470B AA
Transformations