Siemens SINUMERIK 840DE sl Function Manual page 163

1st rotary axis
Machine kinematics
The machine kinematics is set for the 1st ($MC_TRAFO5 ... _1) and/or 2nd ($MC_TRAFO5 ...
_2) 5-axis transformation in the channel set with the following machine data:
● Vector (po, see following figure) from the second rotary axis to workpiece table zero:
– MD24500 $MC_TRAFO5_PART_OFFSET_1
– MD24600 $MC_TRAFO5_PART_OFFSET_2
● Axis positions of the two rotary axes at the initial position of the machine:
– MD24510 $MC_TRAFO5_ROT_AX_OFFSET_1
– MD24610 $MC_TRAFO5_ROT_AX_OFFSET_2
● Sign with which the rotary axis positions are included in the transformation:
– MD24520 $MC_TRAFO5_ROT_SIGN_IS_PLUS_1
– MD24620 $MC_TRAFO5_ROT_SIGN_IS_PLUS_2
● Vector (jo) from machine zero to the second rotary axis:
– MD24560 $MC_TRAFO5_JOINT_OFFSET_1
– MD24660 $MC_TRAFO5_JOINT_OFFSET_2
● Vector (to) from the toolholder (flange) to the first rotary axis (measured at machine initial
position):
– MD24550 $MC_TRAFO5_BASE_TOOL_1
– MD24650 $MC_TRAFO5_BASE_TOOL_2
● Vector (ro) from machine zero to the first rotary axis (measured at the machine initial
position):
– MD24562 $MC_TRAFO5_TOOL_ROT_AX_OFFSET_1
– MD24662 $MC_TRAFO5_TOOL_ROT_AX_OFFSET_2
Determining the machine data values
As an aid for determining the values for the above-mentioned machine data, the following two
sketches clarify the relationships between the vectors.
Note
Requirement
The machine has been traversed so that the tool holding flange aligns with the table zero (*).
Is this is technically not possible, vector to must be corrected by the deviations.
Transformations
Function Manual, 06/2019, A5E47435470B AA
2nd rotary axis
C A
C B
3.4 Transformation with swiveled linear axis
Kinematics
swiveled linear axis
F2: Multi-axis transformations
Y
X
<type>
Bits 6 - 0
10 00 100
10 00 101
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