Tracyl - Siemens SINUMERIK Series Function Manual

M1: Kinematic transformation
6.10 Examples
; prepare for TRANSMIT (as first and only transformation)
$MA_ROT_IS_MODULO[3] = TRUE
MD24100 $MC_TRAFO_TYPE_1 = 256
MD24110 $MC_TRAFO_AXES_IN_1[0] = 1
MD24110 $MC_TRAFO_AXES_IN_1[1] = 3
MD24110 $MC_TRAFO_AXES_IN_1[2]=2
MD24120$MC_TRAFO_GEOAX_ASSIGN_TAB_1[0]
=1
MD24120
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[1]=3
MD24120
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[2]=2
MD24900 $MC_TRANSMIT_ROT_AX_OFFSET_1=0 ; rotation position X-Y plane against
MD24910
$MC_TRANSMIT_ROT_SIGN_IS_PLUS_1=FALSE
MD24920 $MC_TRANSMIT_BASE_TOOL_1 [0]=0.0 ; tool center distance in X
MD24920 $MC_TRANSMIT_BASE_TOOL_1 [1]=0.0 ; tool center distance in Y
MD24920 $MC_TRANSMIT_BASE_TOOL_1 [2]=0.0 ; tool center distance in Z
; activation TRANSMIT
; Programming in X,Y,Z
; Return to rotational operation
TRAFOOF
See also
TRACYL (Page 420)
6.10.2

TRACYL

The following figure shows an example relating to the configuration of axes and shows the
sequence of main steps required to configure the axes up to activation by TRACYL.
; General axis configuration for rotation
MD20060 $MC_AXCONF_GEOAX_NAME_TAB[0]="X"
MD20060 $MC_AXCONF_GEOAX_NAME_TAB[1]="Y"
MD20060 $MC_AXCONF_GEOAX_NAME_TAB[2]="Z"
MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[0] = 1
MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[1] = 2
MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[2] = 3
420
; c as modulo axis
;TRANSMIT transformation
; channel axis perpendicular to rotary
axis
; channel rotary axis
; channel axis parallel to rotary axis
; 1. channel axis becomes GEOAX X
; 2. channel axis becomes GEOAX Y
; 3. channel axis becomes GEOAX Z
zero position of the rotary axis
; Rotary axes turns
; Geometry axis
; Geometry axis
; Geometry axis
; X as channel axis 1
; Y no channel axis
; Z as channel axis 2
Function Manual, 03/2013, 6FC5397-1BP40-3BA1
Extended Functions