Siemens sinumerik 840D sl Function Manual page 653

Detailed description
2.3 Configuration of a kinematic transformation
All axes in the mode group are made to follow, the alarms can only be reset by a POWER ON
operation.
As shown in Fig. "Closed kinematic loop illustrated by the example of a robot", the kinematic
transformation effects a conversion of the tool operating point (tool coordinate system: XWZ,
YWZ, ZWZ), that is specified in relation to the basic coordinate system (BCS = robot
coordinate system: XRO, YRO, ZRO), in machine axis values (MCS positions: A1, A2, A3,
..). The operating point (XWZ, YWZ, ZWZ) is specified in the part program in relation to the
workpiece to be machined (workpiece coordinate system WCS: XWS, YWS, ZWS). The
programmable frames make it possible to create an offset between the workpiece coordinate
system WCS and the basic coordinate system BCS.
Figure 2-3 Closed kinematic loop illustrated by the example of a robot
Note
For more detailed information about coordinate systems, please see:
References:
/PG/ Programming Guide Fundamentals
The following machine data are available for configuring kinematic transformations:
12
Special functions: Handling Transformation Package (TE4)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0