Siemens SINUMERIK 840D sl Function Manual page 400

M1: Kinematic transformation
7.1 TRANSMIT face end transformation (option)
Rotary axis offset: TRANSMIT_ROT_AX_OFFSET
If the rotary axis zero point does not match the rotary axis zero position when the TRANSMIT
transformation is active, the angular difference must be entered as an offset in the machine
data:
$MC_TRANSMIT_ROT_AX_OFFSET_<t> = <angular difference>
where <t> = 1, 2
Direction of rotation: TRANSMIT_ROT_SIGN_IS_PLUS
TRANSMIT must be informed of the rotary axis direction of rotation with the following machine
data:
● The direction of rotation of the rotary axis is positive with regard to TRANSMIT if the rotary
axis rotates counterclockwise (in relation to the X/Y plane looking at the Z axis), when
traversing in the positive direction.
● The rotary axis direction of rotation with regard to TRANSMIT is negative if it rotates
clockwise when traversing in the positive direction
①
②
Figure 7-6
$MC_TRANSMIT_ROT_SIGN_IS_PLUS_<t> = <direction of rotation>
where <t> = 1, 2
<Direction of rotation>
Position of the tool zero: TRANSMIT_BASE_TOOL
The position of the tool zero is specified in relation to the origin of the effective Cartesian
coordinate system for TRANSMIT:
● MD24920 $MC_TRANSMIT_BASE_TOOL_<t>[ 0 ] = <offset in X>
● MD24920 $MC_TRANSMIT_BASE_TOOL_<t>[ 1 ] = <offset in Y>
● MD24920 $MC_TRANSMIT_BASE_TOOL_<t>[ 2 ] = <offset in Z>
where <t> = 1, 2
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Positive direction of rotation
Negative direction of rotation
Rotary axis direction of rotation
Meaning
0 Negative rotary axis direction of rotation ⇒ internal sign reversal
1 Positive rotary axis direction of rotation ⇒ no internal sign reversal
Function Manual, 10/2015, 6FC5397-1BP40-5BA3
Extended Functions