Parameterization Using Geometry Data - Siemens SINUMERIK 840D sl Function Manual

13.4.2

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.
All axes in the mode group follow-up (are tracked), the alarms can only be reset by a POWER
ON.
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 13-3 Closed kinematic loop illustrated by the example of a robot
Note
For more detailed information about coordinate systems, please see:
References:
Programming Manual, Fundamentals
The following machine data are available for configuring kinematic transformations:
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
TE4: Transformation package handling
13.4 Configuration of a kinematic transformation
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