Siemens SINUMERIK 840DE sl Function Manual page 32

M1: Kinematics transformation
2.1 TRANSMIT face end transformation (option)
The channel axis numbers must relate to the axis sequence defined with
$MC_TRAFO_GEOAX_ASSIGN_TAB_<n>.
Rotary axis offset: TRANSMIT_ROT_AX_OFFSET
If the rotary axis zero point does not match the rotary axis zero position when the TRANSMIT
transformation is active, the angular difference must be entered as an offset in the machine
data:
$MC_TRANSMIT_ROT_AX_OFFSET_<t> = <angular difference>
where <t> = 1, 2
Direction of rotation: TRANSMIT_ROT_SIGN_IS_PLUS
TRANSMIT must be informed of the rotary axis direction of rotation with the following machine
data:
● The direction of rotation of the rotary axis is positive with regard to TRANSMIT if the rotary
axis rotates counterclockwise (in relation to the X/Y plane looking at the Z axis), when
traversing in the positive direction.
● The rotary axis direction of rotation with regard to TRANSMIT is negative if it rotates
clockwise when traversing in the positive direction
①
Positive direction of rotation
②
Negative direction of rotation
Figure 2-6 Rotary axis direction of rotation
$MC_TRANSMIT_ROT_SIGN_IS_PLUS_<t> = <direction of rotation>
where <t> = 1, 2
<Direction of rotation>
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Meaning
0 Negative rotary axis direction of rotation ⇒ internal sign reversal
1 Positive rotary axis direction of rotation ⇒ no internal sign reversal
Function Manual, 06/2019, A5E47435470B AA
Transformations