Example For Orientation Axes - Siemens SINUMERIK 840DE sl Function Manual

F2: Multi-axis transformations
3.13 Examples
3.13.4

Example for orientation axes

Example 1:
3 orientation axes for the 1st orientation transformation for kinematics with 6 transformed axes.
Rotation must be done in the following sequence:
● firstly about the Z axis.
● then about the Y axis and
● finally about the Z axis again.
The tool vector must point in the X direction.
Program code
CHANDATA(1)
$MC_TRAFO5_TOOL_VECTOR_1=0
$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[0]=4
$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[1]=5
$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[2]=6
$MC_ORIAX_TURN_TAB_1[0]=3
$MC_ORIAX_TURN_TAB_1[1]=2
$MC_ORIAX_TURN_TAB_1[2]=3
CHANDATA(1)
M17
Figure 3-26
Example 2:
240
3 orientation axes for the 1st orientation transformation for kinematics with 6 transformed
axes
Comment
;Tool vector in X direction
;Channel index 1st orient. axis
;Channel index 2nd orient. axis
;Channel index 3rd orient. axis
;Z direction
;Y direction
;Z direction
Function Manual, 06/2019, A5E47435470B AA
Transformations