Siemens SINUMERIK 840D sl Function Manual page 559

$AA_ITR[ <axis>, <transformer layer> ]
The $AA_ITR[ax,n] variable determines the setpoint position of an axis at the output of the
nth chained transformation.
Figure 7-22 Transformer layer
Transformer layer
The 2nd index of the variable corresponds to the transformer layer in which the positions are
tapped:
● Transformer layer 0: The positions correspond to the BCS positions, i.e.,:
● Transformer layer 1: Setpoint positions at output of 1st transformation
● Transformer layer 2: Setpoint positions at output of 2nd transformation
● Transformer layer 3: Setpoint positions at output of 3rd transformation
● Transformer layer 4: Setpoint positions at output of 4th transformation, i.e.,
If one or more transformations of the transformer chain are missing, the highest planes
continue to deliver the same values. If, e.g., Transformer 3 and Transformer 4 are missing,
this corresponds to:
$AA_ITR[x,2] = $AA_ITR[x,3] = $AA_ITR[x,4] = $AA_IM[x]
If the transformations are shut off via TRANSFORMER OFF or in RESET, the Layers 0 to 4
fuse and the variable always delivers the BCS value (Layer 0) in this case.
Axis
Either a geometrical-, channel- or a machine axis identifier is permissible as the 1st index of
the variable. The assignment of the channel axes to the geometry axes corresponding to the
0 level takes place during the programming of geometry axis identifier in each transformer
layer. Using geometry axis identifiers is meaningful only if the geometry axes are not
switched over. Otherwise it is always better to use channel axis identifiers.
Extended Functions
Function Manual, 09/2009, 6FC5397-1BP20-0BA0
$AA_ITR[x,0] == $AA_IB[x]
$AA_ITR[x,4] == $AA_IM[x]
M1: Kinematic transformation
7.5 Chained transformations
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