Example For Orientation Axes - Siemens SINUMERIK 840D sl Function Manual

2.13.4

Example for orientation axes

Example 1:
3 orientation axes for the 1st orientation transformation for kinematics with 6 transformed axes.
Rotation must be done in the following sequence:
● firstly about the Z axis.
● then about the Y axis and
● finally about the Z axis again.
The tool vector must point in the X direction.
Program code
CHANDATA(1)
$MC_TRAFO5_TOOL_VECTOR_1=0
$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[0]=4
$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[1]=5
$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[2]=6
$MC_ORIAX_TURN_TAB_1[0]=3
$MC_ORIAX_TURN_TAB_1[1]=2
$MC_ORIAX_TURN_TAB_1[2]=3
CHANDATA(1)
M17
Figure 2-26
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
3 orientation axes for the 1st orientation transformation for kinematics with 6 transformed
axes
F2: Multi-axis transformations
Comment
; Tool vector in X direction
; Channel index of first orientation axis
; Channel index of second orientation ax-
is
; Channel index of third orientation axis
; Z direction
; Y direction
; Z direction
2.13 Examples
131