Siemens sinumerik 840D sl Function Manual page 115

Example 2:
3 orientation axes for the 2nd orientation transformation for kinematics with 5 transformed
axes. Rotation must be done in the following sequence:
• firstly about the X axis.
• then about the Y axis and
• finally about the Z axis.
The tool vector must point in the Z direction.
CHANDATA(1)
$MC_TRAFO5_TOOL_VECTOR_2=2
$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[0]=4
$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[1]=5
$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[2]=0
$MC_ORIAX_TURN_TAB_1[0]=1
$MC_ORIAX_TURN_TAB_1[1]=2
$MC_ORIAX_TURN_TAB_1[2]=3
CHANDATA(1)
M17
Figure 4-2
The rotation through angle C2 about the Z" axis is omitted in this case, because the tool
vector orientation can be determined solely from angles A2 and B2 and no further degree of
freedom is available on the machine.
References: /PGA/ Programming Manual Work Preparation
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0
3 orientation axes for the 2nd orientation transformation for kinematics with 5
transformed axes
4.4 Example for orientation axes
; Tool vector in Z direction
; Channel index of first orientation axis
; Channel index of second orientation axis
; Channel index of third orientation axis
; X direction
; Y direction
; Z direction
Examples
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