Siemens SINUMERIK 840D sl Function Manual page 600

Kinematic Transformation (M1)
Examples
MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1 [1]
= 0
MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1 [2]
= 1
MD24700 $MC_TRAANG_ANGLE_1 = 30.
MD24710 $MC_TRAANG_BASE_TOOL_1 [0] = 0
MD24710 $MC_TRAANG_BASE_TOOL_1 [1] = 0
MD24710 $MC_TRAANG_BASE_TOOL_1 [2] = 0
TRAANG
TRAFOOF
7.10.4 Chained transformations
Examples
The following chapter determines:
● The general channel configuration
● Single transformations
● Chained transformations consisting of previously defined single transformations
● Activation of single transformations
● Activation of chained transformations
The examples include the following transformations:
● 5-axis transformation with rotatable tool and axis sequence AB (trafo type 16)
● Transmit (trafo type 256)
● Inclined axis (trafo type 1024)
● Chaining of the 1st and 3rd transformation (trafo type 8192)
● Chaining of the 2nd and 3rd transformation (trafo type 8192)
General channel configuration
CHANDATA(1)
MD20070 $MC_AXCONF_MACHAX_USED[0]=1
MD20070 $MC_AXCONF_MACHAX_USED[1] = 2
MD20070 $MC_AXCONF_MACHAX_USED[2] = 3
MD20070 $MC_AXCONF_MACHAX_USED[3] = 4
MD20070 $MC_AXCONF_MACHAX_USED[4]=5
MD20070 $MC_AXCONF_MACHAX_USED[5]=6
MD20070 $MC_AXCONF_MACHAX_USED[6]=7
600
; Y 2nd channel axis
; Z 3rd channel axis
; Angle of inclined axis
; tool center distance in X
; tool center distance in Y
; tool center distance in Z
; activation
; Programming in X,Y,Z
; Return to rotational operation
; Channel data in channel 1
Function Manual, 03/2009, 6FC5397-1BP10-4BA0
Extended Functions