Siemens SINUMERIK 840DE sl Function Manual page 82

M1: Kinematics transformation
2.4 Chained transformations
Axis configuration
The following configuration measures are necessary for a chained transformation:
● Assignment of names to geometry axes
● Assignment of names to channel axes
● Assignment of geometry axes to channel axes
– General situation (no transformation active)
● Assignment of channel axes to machine axis numbers
● Identification of spindle, rotation, modulo for axes
● Allocation of machine axis names
● Transformation-specific settings (for individual transformations and for chained
transformations)
– Transformation type
– Axes going into the transformation
– Assignment of geometry axes to channel axes during active transformation
– Depending on transformation, rotational position of the coordinate system, direction of
Note
Supplementary conditions and special cases
The supplementary conditions and special cases specified in the individual transformation
descriptions must also be observed when used within a chained transformation.
Boundary conditions
Transformation data blocks for each channel
Several transformation data blocks can be defined for each channel. The names of the
corresponding machine data of the transformations begin with $MC_TRAFO... and end
with..._n, where n = 1, 2, 3, ...
Number of chained transformations
Within the transformations of a channel, a maximum of two chained transformations may be
defined.
Chaining direction
The first transformation of the chained transformations has the basic coordinate system (BCS)
as input.
The second transformation of the chained transformations has the machine coordinate system
(MCS) as output.
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rotation, tool zero point in relation to the original coordinate system, angle of the inclined
axis, etc.
Function Manual, 06/2019, A5E47435470B AA
Transformations