Configuration Of A Kinematic Transformation; General Machine Data - Siemens SINUMERIK 840D sl Function Manual

TE4: Transformation package handling

13.4 Configuration of a kinematic transformation

13.4 Configuration of a kinematic transformation
Meaning
In order to ensure that the kinematic transformation can convert the programmed values into
axis motions, it must have access to some information about the mechanical construction of
the machine. This information is stored in machine data:
• Axis assignments
• Geometry information
13.4.1

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
542
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions