Siemens SINUMERIK 840D sl Programming Manual page 736

Work preparation
3.12 Transformation with kinematic chains
<No_Alarm>:
Note
In the event of an error when the function is called, either an alarm is output or an error number
returned (see <No_Alarm> parameter), so that the user can respond in a suitable way to the
error state. The cause of the error is described in more detail through an alarm parameter. An
error number returned instead of an alarm is identical to the alarm parameter.
Further information on CORRTRAFO
The kinematic structure of a machine with orientation transformation is described by one or two
kinematic chains (subchains), starting from the zero point of the world coordinate system. One
of the two chains, the tool chain, ends at the reference point of the tool, the other chain,
the workpiece chain ends in the zero point of the basic coordinate system.
The CORRTRAFO function writes lever arm lengths and axis directions on machines with an
orientation transformation in special correction elements. A kinematic chain is described, for
example, with elements of the type OFFSET, which are defined via $ NK_TYPE.
CORRTRAFO works with sections
The two subchains can each be divided into a maximum of four sections:
● Section 1 begins at the starting point of the chain and ends at the first orientation axis.
● Section 2 is the section between orientation axis 1 and orientation axis 2.
● Section 3 is the section between orientation axis 2 and orientation axis 3.
● Section 4 is the section between orientation axis 3 and the end of the tool or workpiece chain.
Each section may contain constant chain elements of the type OFFSET or ROT_CONST.
The following figure shows an orientation transformation with 2 orientation axes.
736
Behavior in the event of an error (return value > 0) (optional)
Data type: BOOL
Value: FALSE In the event of an error, the program processing is stop‐
(default) ped and alarm 14103 is displayed.
TRUE In the event of an error, the program processing is not
stopped and no alarm is displayed.
Application: User-specific reaction corresponding to the
return value
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
NC programming