Siemens SINUMERIK 840D sl Function Manual page 577

Single transformations
; 1. TRAORI
MD24470 $MC_TRAFO_TYPE_1= 16
MD24410 $MC_TRAFO_AXES_IN_1[0]=1
MD24410 $MC_TRAFO_AXES_IN_1[1]=2
MD24410 $MC_TRAFO_AXES_IN_1[2]=3
MD24410 $MC_TRAFO_AXES_IN_1[3]=4
MD24410 $MC_TRAFO_AXES_IN_1[4]=5
MD24410 $MC_TRAFO_AXES_IN_1[5]=0
MD24120$MC_TRAFO_GEOAX_ASSIGN_TAB_1[0]=1
MD24120$MC_TRAFO_GEOAX_ASSIGN_TAB_1[1]=2
MD24120$MC_TRAFO_GEOAX_ASSIGN_TAB_1[2]=3
MD24550$MC_TRAFO5_BASE_TOOL_1[0]=0
MD24550$MC_TRAFO5_BASE_TOOL_1[1]=0
MD24550$MC_TRAFO5_BASE_TOOL_1[2]=0
; 2. TRANSMIT
MD24200 $MC_TRAFO_TYPE_2 = 256
MD24210 $MC_TRAFO_AXES_IN_2[0] = 1
MD24210 $MC_TRAFO_AXES_IN_2[1] = 6
MD24210 $MC_TRAFO_AXES_IN_2[2]=3
MD24210 $MC_TRAFO_AXES_IN_2[3] = 0
MD24210 $MC_TRAFO_AXES_IN_2[4] = 0
MD24210 $MC_TRAFO_AXES_IN_2[5] = 0
MD24210 $MC_TRAFO_AXES_IN_2[6]=0
MD24220 $MC_TRAFO_GEOAX_ASSIGN_TAB_2[0] =1
MD24220 $MC_TRAFO_GEOAX_ASSIGN_TAB_2[1] =6
MD24220 $MC_TRAFO_GEOAX_ASSIGN_TAB_2[2] =3
; 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.
Extended Functions
Function Manual, 01/2008, 6FC5397-1BP10-3BA0
Kinematic Transformation (M1)
; TRAORI: A-B kinematics
; TRANSMIT
; TRAANG
7.10 Examples
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