Examples; Example Of A 5-Axis Transformation - Siemens SINUMERIK 840D sl Function Manual

F2: Multi-axis transformations

1.13 Examples

1.13 Examples
1.13.1

Example of a 5-axis transformation

CHANDATA(1)
$MA_IS_ROT_AX[AX5] = TRUE
$MA_SPIND_ASSIGN_TO_MACHAX[AX5] = 0
$MA_ROT_IS_MODULO[AX5]=0
;-----------------------------------------------------------------------------------------------------
; general 5-axis transformation
;
; kinematics:
;
;
;-----------------------------------------------------------------------------------------------------
$MC_TRAFO_TYPE_1 = 20
$MC_ORIENTATION_IS_EULER = TRUE
$MC_TRAFO_AXES_IN_1[0] = 1
$MC_TRAFO_AXES_IN_1[1] = 2
$MC_TRAFO_AXES_IN_1[2] = 3
$MC_TRAFO_AXES_IN_1[3] = 4
$MC_TRAFO_AXES_IN_1[4] = 5
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[0]=1
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[1]=2
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[2]=3
$MC_TRAFO5_PART_OFFSET_1[0] = 0
$MC_TRAFO5_PART_OFFSET_1[1] = 0
$MC_TRAFO5_PART_OFFSET_1[2] = 0
$MC_TRAFO5_ROT_AX_OFFSET_1[0] = 0
$MC_TRAFO5_ROT_AX_OFFSET_1[1] = 0
$MC_TRAFO5_ROT_SIGN_IS_PLUS_1[0] = TRUE
126
1. rotary axis is parallel to Z
2. rotary axis is parallel to X
Movable tool
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions