Siemens sinumerik 840D sl Function Manual page 25

Geometry information
Information concerning machine geometry is required so that the 5-axis transformation can
calculate axis values: This information is stored in the machine data (in this case, for the first
transformation in the channel):
MD24500 $MC_TRAFO5_PART_OFFSET_1 (workpiece-oriented offset)
• for machine type 1 (two-axis swivel head)
• for machine type 2 (two-axis rotary table)
Figure 2-2
• for machine type 3 (single-axis swivel head and single-axis rotary table)
MD24560 $MC_TRAFO5_JOINT_OFFSET_1 (vector of the kinematic offset of 5-axis
transformation 1)
Vector from the first to the second swivel joint (machine type 1 and 2)
Vector from machine zero point to the swivel joint of the table (machine type 3)
MD24510 $MC_TRAFO5_ROT_AX_OFFSET_1 (position offset of rotary axes 1/2/3 5-axis
transformation 1) angle offset of the first or second rotary axis
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0
Vector from machine reference point to table zero point (zero vector)
Vector from last table swivel joint to zero point of table
Machine data MD24500 $MC_TRAFO5_PART_OFFSET_1 for machine type 2
Vector from joint of table to zero point of table
Detailed description
2.1 5-axis transformation
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