Siemens sinumerik 840D sl Function Manual page 648

Detailed description
2.1 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. The current package offers kinematics, which include between 2 and 5 axes
in the transformation, corresponding to up to five spatial degrees of freedom. In this case, a
maximum of 3 degrees are available for translation and 2 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.
Special functions: Handling Transformation Package (TE4)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0
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