Siemens SINUMERIK 840DE sl Function Manual page 185

mo:
po:
x.
t:
to:
jo:
jo23:
Figure 3-21
Programming
1. Programming the Cartesian position
The position of the 7th axis must be programmed in the workpiece coordination system in
addition to the Cartesian position. The Cartesian position is thus programmed in relation to
the constant workpiece. The 7-axis transformation converts the WCS position via the
rotation of the 7th axis in the basic coordinate system. Possibly programmed or set frames
are normally settled before the 7-axis transformation.
2. Programming of orientation
All programming options of the generic 5/6-axis transformation are available while
programming the orientation. The 7th axis must always be programmed additionally.
Two different response types can be set in this context via the G command.
– The position of the 7th axis does not influence the programmed orientation.
– The programmed end orientation is rotated with the 7th axis.
Transformations
Function Manual, 06/2019, A5E47435470B AA
Position vector in MCS
$MC_TRAFO5_PART_OFFSET_n[0..2]
Vector of programmed position in the WCS
Tool correction vector
$MC_TRAFO5_BASE_TOOL_n[0..2]
$MC_TRAFO5_JOINT_OFFSET_n[0..2]
$MC_TRAFO6_JOINT_OFFSET_2_3_n[0..2]
Schematic diagram of 7-axis kinematics
F2: Multi-axis transformations
3.7 Generic 5-axis transformation and variants
185