Siemens SINUMERIK 840DE sl Function Manual page 241

3 orientation axes for the 2nd orientation transformation for kinematics with 5 transformed axes.
Rotation must be done in the following sequence:
● firstly about the X axis.
● then about the Y axis and
● finally about the Z axis.
The tool vector must point in the Z direction.
Program code
CHANDATA(1)
$MC_TRAFO5_TOOL_VECTOR_2=2
$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[0]=4
$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[1]=5
$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[2]=0
$MC_ORIAX_TURN_TAB_1[0]=1
$MC_ORIAX_TURN_TAB_1[1]=2
$MC_ORIAX_TURN_TAB_1[2]=3
CHANDATA(1)
M17
Figure 3-27
The rotation through angle C2 about the Z" axis is omitted in this case, because the tool vector
orientation can be determined solely from angles A2 and B2 and no further degree of freedom
is available on the machine.
Further information
Programming Manual Advanced
Transformations
Function Manual, 06/2019, A5E47435470B AA
3 orientation axes for the 2nd orientation transformation for kinematics with 5 transformed
axes
F2: Multi-axis transformations
Comment
;Tool vector in Z direction
;Channel index 1st orient. axis
;Channel index 2nd orient. axis
;Channel index 3rd orient. axis
;X direction
;Y direction
;Z direction
3.13 Examples
241