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

Transformation type "P" (in accordance with MD24100 $MC_TRAFO_TYPE_1 = 40)
MD24500 $MC_TRAFO5_PART_OFFSET_1[1]
MD24500 $MC_TRAFO5_PART_OFFSET_1[2]
Assignments for transformation type 56
Toolholder data assignments dependent on transformation type 56
Transformation type "M" (in accordance with MD24100 $MC_TRAFO_TYPE_1 = 56)
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: TRAFO5_JOINT_OFFSET_1[2]
MD24550 $MC_TRAFO5_BASE_TOOL_1[0]
MD24550 $MC_TRAFO5_BASE_TOOL_1[1]
MD24550 $MC_TRAFO5_BASE_TOOL_1[2]
MD24558 $MC_TRAFO5_JOINT_OFFSET_PART_1[0]
MD24558 $MC_TRAFO5_JOINT_OFFSET_PART_1[1]
MD24558 $MC_TRAFO5_JOINT_OFFSET_PART_1[2]
MD24500 $MC_TRAFO5_PART_OFFSET_1[0]
MD24500 $MC_TRAFO5_PART_OFFSET_1[1]
MD24500 $MC_TRAFO5_PART_OFFSET_1[2]
Example of parameterization
The first 5-axis transformation is to obtain its data from machine data and the second, in
contrast, is to be parameterized using the data from the 3rd orientable toolholder.
MD24100 $MC_TRAFO_TYPE_1 = 24
MD24200 $MC_TRAFO_TYPE_2 = 72
MD24682 $MC_TRAFO5_TCARR_NO_2 =
3;
3.7.5

Extension of the generic transformation to 6 axes

6-axis transformation is an extension of the generic 5-axis transformation to include an
additional rotary axis. This allows rotation of the tool around itself to be defined.
In addition to the machine data for 5-axis transformation, to parameterize 6-axis
transformation, additional settings must be made in the subsequently listed machine data.
Transformations
Function Manual, 06/2019, A5E47435470B AA
F2: Multi-axis transformations
3.7 Generic 5-axis transformation and variants
$TC_CARR19 (+$TC_TCARR59)
$TC_CARR20 (+$TC_TCARR60)
$TC_CARR1 (+$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)
$TC_CARR18 (+$TC_TCARR58)
$TC_CARR19 (+$TC_TCARR59)
$TC_CARR20 (+$TC_TCARR60)
; first 5-axis transformation
; second 5-axis transformation
; parameterize data of the third orientable
; toolholder
179