Siemens SINUMERIK 840D sl Function Manual page 652

TE4: Handling transformation package - 840D sl only
17.4 Configuration of a kinematic transformation
The transformation package distinguishes between the following axis types:
● Linear axis: MD62601 = 1
● Rotary axis: MD62601 = 3
Velocities and acceleration rates
Separate velocities for the Cartesian movement components are introduced for axes that are
traversed with G00 and active transformation.
The velocity is preset via path feed F for axis traversal with G01 or G02.
Cartesian velocity
The velocities for individual translational motion directions for axis traversal with G00 can be
preset in machine data:
● MD62629 $MC_TRAFO6_VELCP[i] (Cartesian velocity [no.]: 0...2)
– Index i = 0 : X component of basic system
– Index i = 1 : Y component of basic system
– Index i = 2 : Z component of basic system
Cartesian acceleration rates
The acceleration rates for individual translational motion directions for axis traversal with G00
can be preset in machine data:
● MD62630 $MC_TRAFO6_ACCCP[i] (Cartesian acceleration rates [no.]: 0...2)
– Index i = 0 : X component of basic system
– Index i = 1 : Y component of basic system
– Index i = 2 : Z component of basic system
Orientation angle velocities
The velocities for individual directions of orientation for axis traversal with G00 can be preset
in machine data:
● MD62631 $MC_TRAFO6_VELORI[i] (orientation angle velocities [no.]: 0...2)
– Index i = 0 : A angle
– Index i = 1 : B angle
– Index i = 2 : C angle
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Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions