Siemens SINUMERIK 840D sl Function Manual page 131

$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[1]=5
$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[2]=6
$MC_ORIAX_TURN_TAB_1[0]=3
$MC_ORIAX_TURN_TAB_1[1]=2
$MC_ORIAX_TURN_TAB_1[2]=3
CHANDATA(1)
M17
Figure 1-24
Example 2:
3 orientation axes for the 2nd orientation transformation for kinematics with 5 transformed
axes. Rotation must be done in the following sequence:
• firstly about the X axis.
• then about the Y axis and
• finally about the Z axis.
The tool vector must point in the Z direction.
CHANDATA(1)
$MC_TRAFO5_TOOL_VECTOR_2=2
$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[0]=4
$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[1]=5
$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[2]=0
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
3 orientation axes for the 1st orientation transformation for kinematics with 6 transformed
axes
F2: Multi-axis transformations
; Channel index of second orientation
axis
; Channel index of third orientation
axis
; Z direction
; Y direction
; Z direction
; Tool vector in Z direction
; Channel index of first orientation axis
; Channel index of second orientation
axis
; Channel index of third orientation axis
1.13 Examples
131