Siemens SINUMERIK 840D sl Function Manual page 130

F2: Multi-axis transformations
2.13 Examples
Machine data
; machine kinematics CA' with tool orientation in zero position in the z direction
$MC_TRAFO_TYPE_1 = 148
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[0]=1
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[1]=2
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[2]=3
; angle of second rotary axis
$MC_TRAFO5_NUTATOR_AX_ANGLE_1 = 45
Program
Program code
; Definition of tool T1
$TC_DP1[1,1] = 120
$TC_DP2[1,1] = 0
$TC_DP3[1,1] = 20
$TC_DP4[1,1] = 8.
$TC_DP5[1,1] = 5.
TRAORI(1)
ORIMKS
G0 X1 Y0 Z0 A0 B0 F20000 G90 G64 T1 D1 G17
; Programming of direction vector
G1 G90
a3 = 0 b3 = 1 c3 = 0
; Programming in Euler angles
G1 G90
a2 = 0 b2 = 0 X0
; Programming of rotary axis motion
G1 X10 Y5 Z20 A90 C90
m30
References:
Programming Manual, Fundamentals
130
Comment
; Type
;
; Z length offset vector G17
; Y
; X
; Activation of transformation
; Orientation reference to MCS
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions