Determining The Axis Positions In The Transformation Chain - Siemens SINUMERIK 840DE sl Function Manual

2.4.3.2

Determining the axis positions in the transformation chain

Two chained transformations are configured in the following example, and the system variables
for determining the axis positions in the synchronous action are read cyclically in the part
program.
Parameter assignment
CHANDATA(1)
; TRANSMIT
MD24100 $MC_TRAFO_TYPE_1=256
MD24110 $MC_TRAFO_AXES_IN_1[0] = 2
MD24110 $MC_TRAFO_AXES_IN_1[1] = 1
MD24110 $MC_TRAFO_AXES_IN_1[2] = 3
MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1 [0] = 2
MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1 [1] = 1
MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1 [2] = 3
; TRACYL
MD24200 $MC_TRAFO_TYPE_2=512
MD24210 $MC_TRAFO_AXES_IN_2[0]=2
MD24210 $MC_TRAFO_AXES_IN_2[1]=1
MD24210 $MC_TRAFO_AXES_IN_2[2]=3
MD24220 $MC_TRAFO_GEOAX_ASSIGN_TAB_2[0] =2
MD24220 $MC_TRAFO_GEOAX_ASSIGN_TAB_2[1] =1
MD24220 $MC_TRAFO_GEOAX_ASSIGN_TAB_2[2] =3
Transformations
Function Manual, 06/2019, A5E47435470B AA
M1: Kinematics transformation
2.4 Chained transformations
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