Siemens SINUMERIK 840DE sl Function Manual page 10

Table of contents
2.3.3.3 Oblique plunge-cutting on grinding machines (G5, G7) .........................................................74
2.3.4 Boundary conditions...............................................................................................................75
2.3.5 Example .................................................................................................................................78
2.4 Chained transformations ........................................................................................................81
2.4.1 Function .................................................................................................................................81
2.4.1.1 Introduction ............................................................................................................................81
2.4.1.2 System variables....................................................................................................................83
2.4.2 Programming..........................................................................................................................86
2.4.3 Examples ...............................................................................................................................87
2.4.3.1 Application example of chained transformations....................................................................87
2.4.3.2 Determining the axis positions in the transformation chain....................................................91
2.5 Persistent transformation .......................................................................................................93
2.6 Cartesian PTP travel ..............................................................................................................97
2.6.1 Function .................................................................................................................................97
2.6.2 Commissioning.....................................................................................................................100
2.6.2.1 Response after POWER ON................................................................................................100
2.6.2.2 Response after reset/part program end ...............................................................................100
2.6.2.3 Consideration of the SW limits during PTP travel ................................................................100
2.6.2.4 Displaying STAT and TU......................................................................................................101
2.6.3 Programming........................................................................................................................102
2.6.3.1 Activating/deactivating Cartesian PTP travel (PTP, PTPG0, PTPWOC, CP) ......................102
2.6.3.2 Activating/deactivating Cartesian PTP travel (PTP, PTPG0, PTPWOC, CP) ......................103
2.6.3.3 Specify the position of the joints (STAT) ..............................................................................104
2.6.3.4 Specify the sign of the axis angle (TU) ................................................................................108
2.6.3.5 Example 1: PTP travel of a 6-axis robot with ROBX transformation ....................................111
2.6.3.6 Example 2: PTP travel for generic 5-axis transformation.....................................................112
2.6.3.7 Example 3: PTPG0 and TRANSMIT ....................................................................................112
2.6.4 Supplementary conditions....................................................................................................114
2.7 Cartesian manual traversing (option) ...................................................................................115
2.8 Activating transformation machine data via part program/softkey .......................................126
2.8.1 Function ...............................................................................................................................126
2.8.2 Constraints ...........................................................................................................................126
2.8.3 Control response to power ON, mode change, RESET, block search, REPOS ..................128
2.8.4 List of machine data affected ...............................................................................................129
2.8.5 Example ...............................................................................................................................131
2.9 Data lists ..............................................................................................................................132
2.9.1 Machine data........................................................................................................................132
2.9.1.1 TRANSMIT...........................................................................................................................132
2.9.1.2 TRACYL ...............................................................................................................................133
2.9.1.3 TRAANG ..............................................................................................................................135
2.9.1.4 Chained transformations ......................................................................................................136
2.9.1.5 Non transformation-specific machine data...........................................................................136
3 F2: Multi-axis transformations ..................................................................................................................137
3.1 Brief description ...................................................................................................................137
3.1.1 General specifications..........................................................................................................137
3.1.2 5-axis Transformation ..........................................................................................................137
3.1.3 3-axis and 4-axis transformation ..........................................................................................139
3.1.4 Orientation transformation with a swiveling linear axis. .......................................................140
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Function Manual, 06/2019, A5E47435470B AA
Transformations