Examples For Generic Axis Transformations - Siemens SINUMERIK 840D sl Function Manual

F2: Multi-axis transformations
1.13 Examples
N40 Linear interpolation of angle of rotation from starting value 0 degrees to end value 90
degrees.
N50 The angle of rotation changes from 90 degrees to 180 degrees in accordance with the
parabola.
θ(u) = 90 + u
N60 A rotation can also be programmed without a change in orientation taking place.
N80 Tool orientation is rotated from the Y direction to the X direction. The change in
orientation takes place in the X-Y plane and the rotation vector describes an angle of 30
degrees to this plane.
1.13.6

Examples for generic axis transformations

The following example is based on a machine with rotatable tool on which the first rotary axis
is a C axis and the second a B axis (CB kinematics, see Figure). The basic orientation defined
in the machine data is the bisecting line between the X and Z axes.
Relevant machine data are as follows:
CHANDATA(1)
$MC_TRAFO_TYPE_1 = 24
$MC_TRAFO5_AXIS1_1[0] = 0.0
$MC_TRAFO5_AXIS1_1[1] = 0.0
$MC_TRAFO5_AXIS1_1[2] = 1,0
$MC_TRAFO5_AXIS2_1[0] = 0.0
$MC_TRAFO5_AXIS2_1[1] = 1,0
$MC_TRAFO5_AXIS2_1[2] = 0.0
$MC_TRAFO5_BASE_ORIENT_1[0] = 1.0
$MC_TRAFO5_BASE_ORIENT_1[1] = 0,0
$MC_TRAFO5_BASE_ORIENT_1[2] = 1.0
M30
Example program:
N10 $TC_DP1[1,1] = 120
N20 $TC_DP3[1,1]=
N30
N40
N50 $TC_CARR7[1] = 1
N60 $TC_CARR11[1] = 1
N70 $TC_CARR13[1] = -45
134
2
; End mill
0 ; Length offset vector
; Definition of tool carrier
; Component of 1st rotary axis
; in X direction
; Component of 2nd rotary axis
; in Y direction
; Angle of rotation of 1st axis
; General 5-axis transformation
; Rotatable tool
; 1. Rotary axis is parallel to Z.
; 2. Rotary axis is parallel to Y.
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions