Extension Of The Generic Transformation To 6 Axes - Siemens SINUMERIK 840D sl Function Manual

1.7.5

Extension of the generic transformation to 6 axes

Application
With the maximum 3 linear axes and 2 rotary axes, the motion and direction of the tool in
space can be completely described with the generic 5-axis transformation. Rotations of the
tool around itself, as is important for a tool that is not rotation-symmetric or robots, require an
additional rotary axis. The previous generic 5-axis transformation will therefore be extended
by a 3rd rotary axis and further functions added.
• Extension to 3 linear axes and 3 rotary axes, i.e. 6 axes.
• General use of the generic orientation transformation with unchanged parameterization of
machine data.
• Cartesian manual travel also for the generic transformation.
Kinematics for the 6-axis transformation
The 6-axis transformation is based on the generic 5-axis transformation and is extended by
transformation type 57. Therefore, four different machine kinematics exist that are
differentiated through the specification of the transformation type in the following machine
data:
MD24100 $MC_TRAFO_TYPE_1 = Trafotyp (definition of transformation 1 in the channel)
Table 1-4
Machine type
swivel/rotatable
Transformation
types
Orientation in
space,
rotation of the axes
In all four cases, the first rotary axis is the one which closest to the workpiece and the third
rotary axis the one which closest to the tool in the kinematic chain.
Note
The four specified transformation types only cover those kinematics in which the three linear
axes form a rectangular Cartesian coordinate system, i.e. no kinematics are covered in which
at least one rotary axis lies between two linear axes in the kinematic chain.
Dedicated machine data exist for each general transformation or for each orientation
transformation that are differentiated by the suffixes _1, _2 etc. (e.g. MD24100
$MC_TRAFO_TYPE_1, MD24200 $MC_TRAFO_TYPE_2 etc.). In the following, only the
names for the first transformation are specified, i.e. those with the suffix _1. If a
transformation other than the first is parameterized, the correspondingly modified names
must be used.
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Overview of machine types for the generic 6-axis transformation
1
tool
24
Unchanged.
All three axes rotate
the tool
F2: Multi-axis transformations
1.7 Generic 5-axis transformation and variants
2 3
workpiece Tool/
workpiece
40 56
Unchanged. Tool by 2 axes,
All three axes rotate workpiece by one
the workpiece rotary axis
4
Tool/
workpiece
57
Tool by
one axis,
workpiece
by two
rotary
axes
69