Siemens SINUMERIK 840DE sl Function Manual page 127

MD24564 $MC_TRAFO5_NUTATOR_AX_ANGLE_n for an active transformation with
MD24100 $MC_$MC_TRAFO_TYPE = 16 (5-axis transformation with rotatable tool and two
mutually perpendicular rotary axes A and B) since this particular machine data is not involved
in the transformation.
Please note that machine data MD21110 $MC_X_AXIS_IN_OLD_X_Z_PLANE may not be
altered for an active orientation transformation.
Note
For a program interruption (Repos, delete distance to go, ASUPs etc.) to restart, several blocks
are also required in the control, which were already executed. That it is prohibited to change
machine data of an active transformation also refers to these blocks.
Example:
Two orientation transformations are set via machine data, e.g. MD24100
$MC_TRAFO_TYPE_1 = 16, MD24200 $MC_TRAFO_TYPE_2 = 18.
When executing "Activate machine data", it is assumed that the second transformation is
active. In this case, all machine data that relate only to the first transformation may be changed,
e.g.:
MD24500 $MC_TRAFO5_PART_OFFSET_1
but not, for instance:
MD24650 $MC_TRAFO5_BASE_TOOL_2
or
MD21110 $MC_X_AXIS_IN_OLD_X_Z_PLANE
Furthermore, another transformation (TRANSMIT) can be set, for example with MD24300
$MC_TRAFO_TYPE_3 = 256 and can be parameterized with additional machine data.
Defining geometry axes
Geometry axes must be defined before the control system powers up using the following
machine data:
MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_X[n]
or
MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[n]
Changing the assignment
The assignment of a transformation data set to a transformation is determined by the sequence
of entries in MD24100 $MC_TRAFO_TYPE_X. The first entry in the table is assigned to the first
transformation data set, and accordingly the second entry to the second data set. It is not
permissible (and not possible) to change this assignment for an active transformation.
Example:
Three transformations are set. two orientation transformations and one transmit
transformation, e.g.
Transformations
Function Manual, 06/2019, A5E47435470B AA
2.8 Activating transformation machine data via part program/softkey
M1: Kinematics transformation
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