Siemens sinumerik 840D sl Function Manual page 113

4.3 Example of a universal milling head
General information
The following two subsections show the main steps which need to be taken in order to
activate a transformation for the universal milling head.
Machine data
; machine kinematics CA' with tool orientation in zero position in the z direction
$MC_TRAFO_TYPE_1 = 148
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[0]=1
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[1]=2
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[2]=3
; angle of second rotary axis
$MC_TRAFO5_NUTATOR_AX_ANGLE_1 = 45
Program
; Definition of tool T1
$TC_DP1[1,1] = 120;
$TC_DP2[1,1] = 0;
$TC_DP3[1,1] = 20;
$TC_DP4[1,1] = 8.;
$TC_DP5[1,1] = 5.;
TRAORI(1);
ORIMKS;
G0 X1 Y0 Z0 A0 B0 F20000 G90 G64 T1 D1 G17
; Programming of direction vector
G1 G90
a3 = 0 b3 = 1 c3 = 0
; Programming in Euler angles
G1 G90
a2 = 0 b2 = 0 X0
; Programming of rotary axis motion
G1 X10 Y5 Z20 A90 C90
m30
References:/PA/, "Programming Manual Fundamentals"
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0
4.3 Example of a universal milling head
Type
Z length offset vector G17
Y
X
Activation of transformation
Orientation reference to MCS
Examples
107