Siemens sinumerik 840D sl Function Manual page 652

2.3.1 General machine data
MD24100 $MC_TRAFO_TYPE_1 (definition of channel transformation 1)
The value 4099 must be entered in this data for the handling transformation package.
MD24110 $MC_TRAFO_AXES_IN_1 (axis assignment for transformation)
The axis assignment at the transformation input defines which transformation axis is mapped
internally onto a channel axis. It is specified in machine data:
MD24110 $MC_TRAFO_AXES_IN_1
There is a predetermined axis sequence for the handling transformation package, i.e. the
first n channel axes must be assigned to the n transformation axes in ascending sequence:
• MD24110 $MC_TRAFO_AXES_IN_1[0] = 1
• MD24110 $MC_TRAFO_AXES_IN_1[1] = 2
• MD24110 $MC_TRAFO_AXES_IN_1[2] = 3
• MD24110 $MC_TRAFO_AXES_IN_1[3] = 4
• MD24110 $MC_TRAFO_AXES_IN_1[4] = 5
• MD24110 $MC_TRAFO_AXES_IN_1[5] = 6
MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1 (assignment between geometry axis and channel
axis for transformation 1)
The translational degrees of freedom that are available for the transformation are entered via
machine data:
MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1
The 3 geometry axes normally correspond to Cartesian axis directions X, Y and Z.
• MD24120 $MC_TRAFO_GEO_AX_ASSIGN_TAB_1[0] = 1
• MD24120 $MC_TRAFO_GEO_AX_ASSIGN_TAB_1[1] = 2
• MD24120 $MC_TRAFO_GEO_AX_ASSIGN_TAB_1[2] = 3
2.3.2 Parameterization using geometry data
Modular principle
The machine geometry is parameterized according to a type of modular principle. With this
method, the machine is successively configured in geometry parameters from its base center
point to the tool tip, thereby producing a closed kinematic loop. For this purpose, frames (see
Subsection "Definition of positions and orientations using frames") are used to describe the
geometry. While the control is powering up, the configuration machine data are checked and
alarms generated when necessary.
Special functions: Handling Transformation Package (TE4)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0
2.3 Configuration of a kinematic transformation
Detailed description
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