Siemens SINUMERIK 840D sl Function Manual page 651

The mathematical zero points of axes are preset in the handling transformation package.
However, the mathematical zero point does not always correspond to the mechanical zero
point (calibration point) of axes. In order for the zero point of each axis to fit one another, the
difference between the mathematical zero point and the alignment point for each axis must be
entered in the following machine data:
● MD62617 $MC_TRAFO6_MAMES[ ] (offset between mathematical and mechanical zero
points [axis no.]: 0...5)
The deviation to be entered corresponds to the difference between the mechanical zero point
and the mathematically positive direction of rotation of the axis.
Example
Jointed arm kinematics are shown in the following diagram.
In the mathematical zero position
entered into the machine data for axis 2 (index 1):
● MD62617 $MC_TRAFO6_MAMES[ 1 ] = 90
Axis 3 (A3) is counted relative to the previous axis 2 (A2) in the kinematic chain, and in the
mechanical zero position
● MD62617 $MC_TRAFO6_MAMES[ 2 ] = -90
①
②
③
④
Figure 17-11 Matching mathematical and mechanical zero points
Axis type for transformation
Which axis type is handled is specified in machine data:
● MD62601 $MC_TRAFO6_AXES_TYPE (axis type for transformation [axis no.]: 0...5)
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
①
has the value: -90º:
mechanical zero position (adjusted position):
MD62617 $MC_TRAFO6_MAMES[ 2 ] = -90
mathematical zero position
MD62617 $MC_ TRAFO6_MAMES[ 1 ] = 90
TE4: Handling transformation package - 840D sl only
17.4 Configuration of a kinematic transformation
②
, axis 2 (A2) has a value of 90º. This value should be
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