Example Of A Generic 7-Axis Transformation - Siemens SINUMERIK 840D sl Function Manual

Program code
N220
N230
N240
2.13.6.2

Example of a generic 7-axis transformation

Example of a generic 7-axis transformation
Activation of a 7-axis transformation with subsequent orientation changes and traversing:
Program
N10 TRAFOOF
N20 a0 b0 c0 x0 y0 z0 e=0
N30 $MC_TRAFO5_AXIS1_1[2] = 1
N40 $MC_TRAFO5_AXIS1_2[0] = 1
N50 $MC_TRAFO5_AXIS1_3[2] = 1
N60 $MC_TRAFO7_EXT_AXIS1_1[0] = 1
N70 $MC_TRAFO_BASE_ORIENT_1[2] = 1
N80 $MC_TRAFO_BASE_ORIENT_NORMAL_1[1] = 1
N90 NEWCONF
N100 traori()
N110 G1 t1 d1 x10 y0 z50 c3=1 an3=1 bn3=1
orivect oriwks G19 F10000
N120 G2 y50 z0 b3=1 e=DC(90) CR=50
N130 G2 y0 z–50 c3=–1 e=DC(180) CR=50
N140 G2 y–50 z0 b3=–1 e=DC(270) CR=50
N150 G2 y0 z50 c3=1 e=DC(0) CR=50
N200 M30
Note
While traversing the quadrant in the example, only the 7th axis turns by 360 degrees. The
machine remains in the fixed position.
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
C3=1
THETA=IC(90)
M30
Comment
; Orientation in the Z direction → tool
; rotated by 26.565 degrees
; Orientation normal vector
; Incremental by 90 degrees
; rotate Vector points in negative
; X direction
Comment
; 1. Rotary axis shows in Z direction
; 2. Rotary axis shows in X direction
; 3. Rotary axis shows in Z direction
; 7. Axis shows in X direction
; Orientation vector
; Orientation normal vector
; 1. Quadrant
; 2. Quadrant
; 3. Quadrant
; 4. Quadrant
F2: Multi-axis transformations
2.13 Examples
137