Siemens SINUMERIK 840D sl Function Manual page 456

M1: Kinematic transformation
7.4 Chained transformations
MD24432 $MC_TRAFO_AXES_IN_5[1]=2
MD24432 $MC_TRAFO_AXES_IN_5[2]=3
MD24434 $MC_TRAFO_GEOAX_ASSIGN_TAB_5[0] =2
MD24434 $MC_TRAFO_GEOAX_ASSIGN_TAB_5[1] =1
MD24434 $MC_TRAFO_GEOAX_ASSIGN_TAB_5[2] =3
M17
Programming example
Program code
N10 $TC_DP1[1,1]=120
N20 $TC_DP3[1,1]= 20
N30 $TC_DP4[1,1]=0
N40 $TC_DP5[1,1]=0
N50
N60 X0 Y0 Z0 F20000 T1 D1
N70
N80
N90 ID=1 WHENEVER TRUE DO $R0=$AA_ITR[X,0] $R1=$AA_ITR[X,1] $R2=$AA_ITR[X,2]
N100 ID=2 WHENEVER TRUE DO $R3=$AA_IBC[X] $R4=$AA_IBC[Y] $R5=$AA_IBC[Z]
N110 ID=3 WHENEVER TRUE DO $R6=$VA_IW[X]-$AA_IW[X]
N120 ID=4 WHENEVER TRUE DO $R7=$VA_IB[X]-$AA_IB[X]
N130 ID=5 WHENEVER TRUE DO $R8=$VA_IBC[X]-$AA_IBC[X]
N140 ID=6 WHENEVER TRUE DO $R9=$VA_ITR[X,1]-$AA_ITR[X,1]
N150
N160
N170 TRACON(1,)
N180 X20 Y0 Z0
N190 X0 Y20 Z10
N200 X-20 Y0 Z0
N210 X0 Y-20 Z0
N220 X20 Y0 Z0
N230 TRAFOOF
N240
N250
N260 TRACON (2, 40.)
N270 X20 Y0 Z0
N280 X0 Y20 Z10
N290 X-20 Y0 Z0
N300 X0 Y-20 Z0
N310 X20 Y0 Z0
N320 TRAFOOF
N330
456
Comment
; Cyclic reading of the variables in the synchron-
ized action
; 1. TRANSMIT / TRAANG chaining
; 2. TRACYL/ TRAANG chaining
Function Manual, 10/2015, 6FC5397-1BP40-5BA3
Extended Functions