Siemens sinumerik 840D sl Function Manual page 59

Note
The four specified transformation types only cover those kinematics in which the three linear
axes form a rectangular Cartesian coordinate system, i.e. no kinematics are covered in
which at least one rotary axis lies between two linear axes in the kinematic chain.
Dedicated machine data exist for each general transformation or for each orientation
transformation that are differentiated by the suffixes _1, _2 etc. (e.g. MD24100
$MC_TRAFO_TYPE_1, MD24200 $MC_TRAFO_TYPE_2 etc.). In the following, only the
names for the first transformation are specified, i.e. those with the suffix _1. If a
transformation other than the first is parameterized, the correspondingly modified names
must be used.
Configuration
For configuration of a 6-axis transformation the extensions of the following machine data are
required:
• The channel axis index of the 3rd rotary axis must be entered in the following machine
• The direction of the 3rd rotary axis must be specified in the following machine data:
• An orientation normal vector with a length not equal to zero and which is not parallel or
The previous offsets (vector):
• MD24550 $MC_TRAFO5_BASE_TOOL_1[0..2]
• MD24560 $MC_TRAFO5_JOINT_OFFSET_1[0..2]
• MD24558 $MC_TRAFO5_JOINT_OFFSET_PART_1[0..2]
• MD24500 $MC_TRAFO5_PART_OFFSET_1[0..2]
The following machine data is added as new offset (vector), describing the offset between
the second and third rotary axis:
• MD24561 $MC_TRAFO6_JOINT_OFFSET_2_3_1[0..2]
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0
data:
MD24110 $MC_TRAFO_AXES_IN_1[5] (axis assignment for transformation)
MD24573 $MC_TRAFO5_AXIS3_1[0..2] (direction third rotary axis)
anti-parallel to the orientation vector defined in machine data MD24574
$MC_TRAFO5_BASE_ORIENT_1[0..2] (basic tool orientation), must be specified in
machine data MD24576 $MC_TRAFO6_BASE_ORIENT_NORMAL_1[0..2] (tool normal
vector).
(vector of the basic tool with activation of the 5-axis transformation) 1)
(vector of the kinematic offset of 5-axis transformation 1)
(vector of kinematic offset in table)
(translation vector 5-axis transformation 1)
(vector of kinematic offset)
2.6 Generic 5-axis transformation and variants
Detailed description
53