Cartesian Manual Travel With Generic Transformation - Siemens SINUMERIK 840D sl Function Manual

Frames
The basic coordinate system sits on the 7th axis. It is also rotated when the 7th axis rotates.
This way the workpiece coordinate system (WCS) does not remain stationary when the
workpiece is rotated over the 7th axis. A workpiece position rotated to the zero position of the
7th axis can be compensated by an axial frame offset of the 7th axis.
Traversing with the 7th axis in the JOG mode
Only the compensatory movements for the linear axes are created if the 7th axis is traversed
in the JOG mode with active 7-axis transformation. The position at the workpiece is kept
constant in this way. As the rotary axes go into the transformation only as input axes, they are
not influenced by the 7th axis during the JOG travel. The orientation at the workpiece is thus
kept variable.
1.7.7

Cartesian manual travel with generic transformation

Note
The use of the "Handling transformation package" option is necessary for the "Cartesian
manual travel" function.
Functionality
The "Cartesian manual travel" function, as a reference system for JOG mode, allows axes to
be set independently of each other in Cartesian coordinate systems:
• Basic coordinate system (BCS)
• Workpiece coordinate system (WCS)
• Tool coordinate system (TCS)
The following machine data not only activates the function, but also sets the permitted
coordinate systems.
MD21106 $MC_CART_JOG_SYSTEM (coordinate systems for Cartesian JOG)
For JOG motion, one of the three reference systems can be set not only for the translation/
movement of the geometry axes, but also for tool orientation/movement of the orientation
axes via the setting data SD42650 $SC_CART_JOG_MODE (coordinate systems for
Cartesian manual traverse) independently from one another.
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
F2: Multi-axis transformations
1.7 Generic 5-axis transformation and variants
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