Transformation With Swiveled Linear Axis - Siemens SINUMERIK 840D sl Function Manual

F2: Multi-axis transformations

2.4 Transformation with swiveled linear axis

Zero position
Tool orientation at zero position is the position of the tool with G17 as the active working plane
and position of the rotary axis at 0 degrees.
Axis assignments
The three translatory axes included in the transformation are assigned to any channel axes
via machine data $MC_TRAFO_GEOAX_ASSIGN_TAB_n[0..2] and
$MC_TRAFO_AXES_IN_n[0..2]. The following must apply for the assignment of channel axes
to geometry axes for the transformation:
$MC_TRAFO_GEOAX_ASSIGN_TAB_n[0] = $MC_TRAFO_AXES_IN_n[0]
$MC_TRAFO_GEOAX_ASSIGN_TAB_n[1] = $MC_TRAFO_AXES_IN_n[1]
$MC_TRAFO_GEOAX_ASSIGN_TAB_n[2] = $MC_TRAFO_AXES_IN_n[2]
The axes with corresponding index must be assigned to each other.
Parameter assignment procedure
● Enter the type of transformation according to the previous table as machine data:
$MC_TRAFO_TYPE_n
● Assign channel axes to the geometry axes of the transformation.
● For a 3-axis transformation, set the values for the axis, which is not required:
– $MC_TRAFO_GEOAX_ASSIGN_TAB_n[geoax] = 0
– $MC_TRAFO_AXES_IN_n[geoax] = 0
● For a 4-axis transformation, set the following for the 3 linear axes
– $MC_TRAFO_GEOAX_ASSIGN_TAB_n[geoax] = ...
– $MC_TRAFO_AXES_IN_n[geoax] = ...
Complete examples of a 3-axis and 4-axis transformation can be found in "Example for 3- and
4-axis Transformation" section.
2.4 Transformation with swiveled linear axis
General information
The "transformation with swiveling linear axis forms" a transformation group of its own. It can
be used when a kinematic as described in the Section "Orientation transformation with a
swiveling linear axis. (Page 34)" is present:
● Three Cartesian linear axes (X, Y, Z) and two orthogonal rotary axes (A, B).
● The rotary axes are parallel to two of the three linear axes.
54
$MC_TRAFO_AXES_IN_n[4] = 0; → there is no 2nd rotary axis
$MC_TRAFO_AXES_IN_n[4] = 0; → there is no 2nd rotary axis
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions