Siemens SINUMERIK 840D sl Function Manual page 452

M1: Kinematic transformation
7.4 Chained transformations
; 3. TRAANG
MD24300 $MC_TRAFO_TYPE_3 = 1024
MD24310 $MC_TRAFO_AXES_IN_3[0] = 1
MD24310 $MC_TRAFO_AXES_IN_3[1] = 3
MD24310 $MC_TRAFO_AXES_IN_3[2] = 2
MD24310 $MC_TRAFO_AXES_IN_3[3] = 0
MD24310 $MC_TRAFO_AXES_IN_3[4] = 0
MD24320 $MC_TRAFO_GEOAX_ASSIGN_TAB_3[0] =1
MD24320 $MC_TRAFO_GEOAX_ASSIGN_TAB_3[1] =3
MD24320 $MC_TRAFO_GEOAX_ASSIGN_TAB_3[2] =2
MD24700 $MC_TRAANG_ANGLE_1 = 45.
MD24720 $MC_TRAANG_PARALLEL_VELO_RES_1 = 0.2
MD24721 $MC_TRAANG_PARALLEL_ACCEL_RES_1 = 0.2
MD24710 $MC_TRAANG_BASE_TOOL_1 [0] = 0.0
MD24710 $MC_TRAANG_BASE_TOOL_1 [1] = 0.0
MD24710 $MC_TRAANG_BASE_TOOL_1 [2] = 0.0
Chained transformations
; 4. TRACON (chaining TRAORI + TRAANG)
MD24400 $MC_TRAFO_TYPE_4 = 8192
MD24420 $MC_TRAFO_GEOAX_ASSIGN_TAB_4[0] =2
MD24420 $MC_TRAFO_GEOAX_ASSIGN_TAB_4[1] =1
MD24420 $MC_TRAFO_GEOAX_ASSIGN_TAB_4[2] =3
MD24995 $MC_TRACON_CHAIN_1[0] = 1
MD24995 $MC_TRACON_CHAIN_1[1] = 3
MD24995 $MC_TRACON_CHAIN_1[2] = 0
; 5. TRACON (chaining TRANSMIT + TRAANG)
MD24430 $MC_TRAFO_TYPE_5 = 8192
MD24434 $MC_TRAFO_GEOAX_ASSIGN_TAB_5[0] =1
MD24434 $MC_TRAFO_GEOAX_ASSIGN_TAB_5[1] =6
MD24434 $MC_TRAFO_GEOAX_ASSIGN_TAB_5[2] =3
MD24996 $MC_TRACON_CHAIN_2[0] = 2
MD24996 $MC_TRACON_CHAIN_2[1] = 3
MD24996 $MC_TRACON_CHAIN_2[2] = 0
452
; TRAANG
Function Manual, 10/2015, 6FC5397-1BP40-5BA3
Extended Functions