Siemens SINUMERIK 840D sl Function Manual page 74

F2: Multi-axis transformations
1.7 Generic 5-axis transformation and variants
Description of the kinematics
The 7-axis transformation builds on the generic 5-/6-axis transformation.
Note
The 7-axis transformation also covers kinematics in which the 6th axis is not available. In the
following pages, we speak exclusively about a 7th axis or about a 7-axis transformation,
even when it is actually the 6th axis in connection with a 5-axis kinematics.
The 7-axis 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.
There is only one machine kinematics for which a 7th axis can be configured. It is designated
by the Transformation Type 24:
$MC_TRAFO_TYPE_1 = 24 Rotary tool: Three (or two) axes rotate the tool; the 7th axis
rotates the workpiece.
The extensions of the following machine data are required to configure a generic 7-axis
transformation:
Machine data
$MC_TRAFO_AXES_IN_1[9]
$MC_TRAFO_AXES_IN_1[10] and
$MC_TRAFO_AXES_IN_1[11]
$MC_TRAFO_AXES_IN_1[6..8]
$MC_TRAFO7_EXT_AXIS1_1[0..2]
$MC_TRAFO7_EXT_AX_OFFSET_1[0..2]
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extension
The channel axis index of the 4th rotary axis is
recorded here.
This machine data is to be assigned with default
value of 0. (default setting)
This machine data is not evaluated by the generic 7-
axis transformation.
The direction of the 4th rotary axis is specified here.
A position offset of the 4th rotary axis is recorded
here.
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions