Orientation Movements For Transformations - Siemens SINUMERIK 840D sl Programming Manual

Work preparation
3.9 Transformations
Kinematic transformation also includes the so-called "Cartesian PTP travel" for which up to 8
different articulated joint positions STAT= can be programmed. Although the positions are
programmed in a Cartesian coordinate system, the movement of the machine occurs in the
machine coordinates.
Further information
Transformations Function Manual; Kinematics Transformation
Chained transformations
Two transformations can be switched one after the other. For the second transformation
chained here, the motion parts for the axes are taken from the first transformation.
The first transformation can be:
● Orientation transformation TRAORI
● Polar transformation TRANSMIT
● Cylinder transformation TRACYL
● Inclined axis transformation TRAANG
The second transformation must be a TRAANG type transformation for an inclined axis.
3.9.1.1

Orientation movements for transformations

Travel movements and orientation movements
The traversing movements of the programmed orientations are determined primarily by the
type of machine. For three-, four-, and five-axis type transformations with TRAORI, the rotary
axes or pivoting linear axes describe the orientation movements of the tool.
Changes in the position of the rotary axes involved in the orientation transformation will induce
compensating movements on the remaining machine axes. The position of the tool tip remains
unchanged.
Orientation movements of the tool can be programmed using the rotary axis identifiers A...,
B..., C... of the virtual axes as appropriate for the application either by entering Euler or RPY
angles or directional or surface normal vectors, normalized vectors for the rotary axis of a taper
or for intermediate orientation on the peripheral surface of a taper.
In the case of kinematic transformation with TRANSMIT, TRACYL and TRAANG, the controller
maps the programmed Cartesian coordinate system traversing movements to the traversing
movements of the real machine axes.
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Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
NC programming