Siemens SINUMERIK 840DE sl Function Manual page 149

Geometry information
Information concerning machine geometry is required so that the 5-axis transformation can
calculate axis values: This information is stored in the machine data (in this case, for the first
transformation in the channel):
● $MC_TRAFO5_PART_OFFSET_<x> (workpiece-oriented offset)
where x = 1, 2, ... maximum number of transformations in the channel
– Machine type 1:
– Machine type 2:
– Machine type 3 (single-axis swivel head and single-axis rotary table)
● $MC_TRAFO5_JOINT_OFFSET_<x> (vector of kinematic offset)
where x = 1, 2, ... maximum number of transformations in the channel
– Machine type 1 and 2:
– Machine type 3:
● $MC_TRAFO5_ROT_AX_OFFSET_<x> (position offset of rotary axes 1 / 2 / 3)
where x = 1, 2, ... maximum number of transformations in the channel
Transformations
Function Manual, 06/2019, A5E47435470B AA
Vector from machine reference point to table zero point (generally, the zero vector)
Vector components from the last rotating joint of the table to the zero point of the table
Figure 3-6 Machine data $MC_TRAFO5_PART_OFFSET_1 for machine type 2
Vector from joint of rotary table to zero point of table
Vector from the first to the second swivel joint
Vector from machine zero point to the swivel joint of the table
F2: Multi-axis transformations
3.2 5-axis transformation
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