Siemens sinumerik 840D sl Function Manual page 118

Examples
4.6 Example of generic 5-axis transformation
4.6 Example of generic 5-axis transformation
The following example is based on a machine with rotatable tool on which the first rotary axis
is a C axis and the second a B axis (CB kinematics, see Figure). The basic orientation
defined in the machine data is the bisecting line between the X and Z axes.
Relevant machine data are as follows:
CHANDATA(1)
$MC_TRAFO_TYPE_1 = 24
$MC_TRAFO5_AXIS1_1[0] = 0.0
$MC_TRAFO5_AXIS1_1[1] = 0.0
$MC_TRAFO5_AXIS1_1[2] = 1,0
$MC_TRAFO5_AXIS2_1[0] = 0.0
$MC_TRAFO5_AXIS2_1[1] = 1,0
$MC_TRAFO5_AXIS2_1[2] = 0.0
$MC_TRAFO5_BASE_ORIENT_1[0] = 1.0
$MC_TRAFO5_BASE_ORIENT_1[1] = 0,0
$MC_TRAFO5_BASE_ORIENT_1[2] = 1.0
M30
Example program:
N10
N20
N30
N40
N50
N60
N70
N80
N90
N100
N110
N120
N130
N140
N150
N160
112
$TC_DP1[1,1] = 120
$TC_DP3[1,1]= 0
$TC_CARR7[1] = 1
$TC_CARR11[1] = 1
$TC_CARR13[1] = -45
$TC_CARR14[1] = 0
X0 Y0 Z0 B0 C0 F10000 ORIWKS G17
TRAORI()
C3=1
T1 D1
C3=1
G19
C3=1
; General 5-axis transformation
; Rotatable tool
; 1. Rotary axis is parallel to Z.
; 2. Rotary axis is parallel to Y.
; End mill
; Length offset vector
; Definition of tool carrier
; Component of 1st rotary axis
; in X direction
; Component of 2nd rotary axis
; in Y direction
; Angle of rotation of 1st axis
; Angle of rotation of 2nd axis
; Selection of basic transformationorientation
; from machine data
; Orientation parallel to Z
; set → B-45 C0
; Basic orientation now is parallel to Z
; Orientation parallel to Z
; set → B0 C0
; Basic orientation now is parallel to X
; Orientation parallel to Z
; set → B-90 C0
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0