Kinematic Transformation; Definition Of Terms; Units And Directions - Siemens SINUMERIK 840D sl Function Manual

TE4: Handling transformation package - 840D sl only

17.3 Definition of terms

17.2

Kinematic transformation

Task of a transformation
The purpose of a transformation is to transform movements in the tool tip, which are
programmed in a Cartesian coordinate system, into machine axis positions.
Fields of application
The handling transformation package described here has been designed to cover the largest
possible number of kinematic transformations implemented solely via parameter settings in
machine data. Currently, kinematics with two to maximum six axes to be included in the
transformation can be configured with this package, corresponding to up to five spatial degrees
of freedom. In this case, a maximum of 3 degrees are available for translation and 3 degrees
for orientation, This package thus allows a tool (milling cutter, laser beam) to be oriented by a
5-axis machine in any desired relation to the workpiece in every point of the machining space.
The workpiece is always programmed in the rectangular workpiece coordinate system; any
programmed or set frames rotate and shift this system in relation to the basic system. The
kinematic transformation then converts this information into motion instructions for the real
machine axes. The kinematic transformation requires information about the design
(kinematics) of the machine, which are stored in machine data.
Kinematic categories
The handling transformation package is divided into two categories of kinematics, which can
be selected via machine data:
MD62600 $MC_TRAFO6_KINCLASS (kinematic category)
● STANDARD: This category includes the most commonly used kinematics.
● SPECIAL: Special kinematics
17.3 Definition of terms
17.3.1

Units and directions

Lengths and angles
In the transformation machine data, all lengths are specified in millimeters or inches and, unless
otherwise stated, all angles in degrees at intervals of [ -180°, 180° ].
Direction of rotation
In the case of angles, arrows in the drawings always indicate the mathematically positive
direction of rotation.
636
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions