Frames For Kinematic Transformations - Siemens SINUMERIK 840DE sl Function Manual

The following also applies:
● If a transformation has been defined conventionally and with a kinematic chain, the
transformation is called via a kinematic chain.
● No check is made to determine whether the called transformation is of a type that is
compatible with the transformation type of the original call.
● Call parameters of a conventional transformation call are forwarded to the transformation
defined with kinematic chains.
Restrictions for TRAANG_K
For a conventional TRAANG transformation (transformation of "oblique axis"), the angle of the
oblique axis is defined opposing the corresponding coordinate axis in a perpendicular
coordinate system by means of machine data (24700 $MC_TRAANG_ANGLE_x).
However, this angle can be changed during a transformation call, e.g. TRAANG(<α>), in a
parameter.
Therefore, specifying the angle parameter is only permitted when this angle is identical to the
angle that results from the definition of the kinematic chain.
Orientation transformations
For orientation transformations, which are parameterized with kinematic chains, the content of
the system variable $P_TRAFO is defined for compatibility reasons.
With an active orientation transformation, $P_TRAFO provides the values that would be
contained in the machine data $MC_TRAFO_TYPE_x for the conventional parameterization of
a corresponding transformation, i.e. the value 24 for "tool" kinematics, the value 40 for
"workpiece" kinematics, and either the value 56 or 57 for mixed kinematics.
The value 57 can only occur with 6-axis transformations if the tool chain contains one
orientation axis and the workpiece chain contains two orientation axes.
4.1.13

Frames for kinematic transformations

Frames for the description of kinematic chains
With the system variables $P_TRAFRAME_T or $P_TRAFRAME_P, frames can be read out
which describe the offset and the rotation of a coordinate system secured at the tool reference
point or at the workpiece reference point, compared to the zero point of the world coordinate
system.
The contents of these frame variables can also be read via the BTSS interface.
The zero point of the world coordinate system is the point from which the kinematic chains
(Page 255) are defined for describing the machine kinematics.
Transformations
Function Manual, 06/2019, A5E47435470B AA
K12 transformation definitions with kinematic chains
4.1 Function description
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