Siemens SINUMERIK 840D sl Function Manual page 594

TE4: Transformation package handling
13.14 Examples
Configure the transformation
1. Enter transformation type 4099 or 4100 (if PTP travel is active) in the machine data:
MD24100 $MC_TRAFO_TYPE_1 (definition of channel transformation 1)
2. Enter the assignment of the channel axes involved in the transformation in the machine
data:
MD24110 $MC_TRAFO_AXES_IN_1[0 to 5] (axis assignment for transformation)
Axis numbers beginning with 1.
3. Enter the geometry axes corresponding to the Cartesian degrees of freedom of the
machine in the machine data:
MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1[0 to 2] (assignment between geometry
axis and channel axis for transformation 1)
4. Enter the kinematic identifier in the machine data:
MD62600 $MC_TRAFO6_KINCLASS (kinematic category)
5. Enter the identifier for special kinematics, if there are any, in machine data:
MD62602 $MC_TRAFO6_SPECIAL_KIN (special kinematic type)
6. Enter the number of axes in the machine data:
MD62605 $MC_TRAFO6_NUM_AXES (number of transformed axes)
7. If the travel direction of the involved axes is opposed to the transformation definition, then
change the factory setting in the machine data:
MD62618 $MC_TRAFO6_AXES_DIR[ ] (matching of physical and mathematical directions
of rotation)
8. Enter the data which define the basic axes:
-
-
9. Enter any changes to the axis sequence in the machine data:
MD62620 $MC_TRAFO6_AXIS_SEQ (rearrangement of axes)
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Basic axis identifier in machine data:
MD62603 $MC_TRAFO6_MAIN_AXES (basic axis identifier)
Basic axis lengths in machine data:
MD62607 $MC_TRAFO6_MAIN_LENGTH_AB (basic axis lengths A and B)
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions