Siemens SINUMERIK 840D sl Function Manual page 67

Assignment for all types of transformation together identical
MD24520 $MC_TRAFO5_ROT_SIGN_IS_PLUS_1[0] (sign of
rotary axis 1/2/3 for 5-axis transformation 1)
MD24520 $MC_TRAFO5_ROT_SIGN_IS_PLUS_1[1]
*) Machine data MD24520/MD24620 $MC_TRAFO5_ROT_SIGN_IS_PLUS_1/2 are
redundant. They are used to invert the direction of rotation of the assigned rotary axis.
However, this can also be achieved by inverting the direction of axis vector
$MC_TRAFO5_AXIS1/2_1/2. It is for this reason that there is no corresponding parameter for
the orientable toolholder. For the purpose of absolute clarity, the following machine data must
be ignored:
MD24520/MD24620 TRAFO5_ROT_SIGN_IS_PLUS_1/2
Assignments for transformation type 24
Toolholder data assignments dependent on transformation type 24
Transformation type "T" (in accordance with MD24100 $MC_TRAFO_TYPE_1 = 24)
MD24500 $MC_TRAFO5_PART_OFFSET_1[0]
(translation vector of 5-axis transformation 1)
MD24500 $MC_TRAFO5_PART_OFFSET_1[1]
MD24500 $MC_TRAFO5_PART_OFFSET_1[2]
MD24560 $MC_TRAFO5_JOINT_OFFSET_1[0]
(vector of the kinematic offset of 5-axis
transformation 1)
MD24560 $MC_TRAFO5_JOINT_OFFSET_1[1]
MD24560 $MC_TRAFO5_JOINT_OFFSET_1[2]
MD24550 $MC_TRAFO5_BASE_TOOL_1[0] (vector
of basic tool when 5-axis transformation is active) 1)
MD24550 $MC_TRAFO5_BASE_TOOL_1[1]
MD24550 $MC TRAFO5_BASE_TOOL_1[2]
Assignments for transformation type 40
Toolholder data assignments dependent on transformation type 40
Transformation type "P" (in accordance with MD24100 $MC_TRAFO_TYPE_1 = 40)
MD24550 $MC_TRAFO5_BASE_TOOL_1[0]
MD24550 $MC_TRAFO5_BASE_TOOL_1[1]
MD24550 $MC_TRAFO5_BASE_TOOL_1[2]
MD24560 $MC_TRAFO5_JOINT_OFFSET_1[0]
MD24560 $MC_TRAFO5_JOINT_OFFSET_1[1]
MD24560 $MC_TRAFO5_JOINT_OFFSET_1[2]
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
F2: Multi-axis transformations
1.7 Generic 5-axis transformation and variants
TRUE*
TRUE*
$TC_CARR1 (+$TC_TCARR41)
$TC_CARR2 (+$TC_TCARR42)
$TC_CARR3 (+$TC_TCARR43)
$TC_CARR4 (+$TC_TCARR44)
$TC_CARR5 (+$TC_TCARR45)
$TC_CARR6 (+$TC_TCARR46)
$TC_CARR15 (+$TC_TCARR55)
$TC_CARR16 (+$TC_TCARR56)
$TC_CARR17 (+$TC_TCARR57)
$TC_CARR4 (+$TC_TCARR44)
$TC_CARR5 (+$TC_TCARR45)
$TC_CARR6 (+$TC_TCARR46)
$TC_CARR15 (+$TC_TCARR55)
$TC_CARR16 (+$TC_TCARR56)
$TC_CARR17 (+$TC_TCARR57)
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