Siemens sinumerik 840D sl Function Manual page 42

Detailed description
2.3 Transformation with swivelled linear axis
Procedure for setting machine data
Perform the following operation:
• Calculate the x- and y-components for vector jo, listed in the figure below, "Example of
• Determine the z components of the corresponding vectors, as shown in the upper section
• Apply the four machine data accordingly:
This procedure can be used for all kinematics specified under "Kinematics Variants".
Observe the tips given in Figure "Projections of Vectors to be set in Machine Data".
Zero components
With certain geometries or machine zero positions, individual components or complete
vectors can become zero.
Machine type
The machine shown in Figure "Projections of Vectors to be set in Machine Data"
corresponds to variation 1. Therefore, type of transformation 64 must be set in the following
machine data (4 least-significant bits in MD).
$MC_TRAFO_TYPE_n
Activation
The transformation for a swiveled linear axis is activated in the same way as 5-axis
transformations. Details are described in Chapter "Activation and Application of 3- to 5-axis
Transformation".
Tool orientation
The same applies with regard to tool orientation, as described in Chapter "Tool Orientation".
36
Vector Designation for MD-settings" in Figure "Machine with Swivelling Linear Axis in
Zero Position".
for ro .
z
$MC_TRAFO5_PART_OFFSET_n
$MC_TRAFO5_TOOL_ROT_AX_OFFSET_n
$MC_TRAFO5_JOINT_OFFSET_n
$MC_TRAFO5_BASE_TOOL_n
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0