Siemens SINUMERIK 840DE sl Function Manual page 264

K12 transformation definitions with kinematic chains
4.1 Function description
are assigned to the geometry axes. The three binary numbers must correspond to the following
decimal numbers:
Decimal
0
1
2
3
4
5
Behavior when passing through the pole
The behavior when passing through the pole is defined via the system variable
$NT_POLE_SIDE_FIX
VALUE
0
1
2
Offset for the base tool
The system variable $NT_BASE_TOOL_COMP (Page 302) can be used to set whether an
offset is entered for the base tool in the transformation frame ($P_TRAFRAME) upon activation
of the transformation for each separate geometry axis. With the offset, the components of the
base tool are compensated in such as way that no change occurs in the component of the
WCS. For this function, $P_TRAFRAME must be configured via the machine data
$MC_MM_SYSTEM_FRAME_MASK bit 6.
The compensation can, for example, be used for a tool carrier, where the dimensions of the
head part of the tool carrier are not part of the tool length.
The separating point between the base tool and the tool can be defined via the system variable
$NT_T_REF_ELEM. If the system variable is blank, then the separating point is defined at the
end point of the tool chain.
Work offset of the rotary axis
In system variable $NT_ROT_OFFSET_FROM_FRAME (Page 294), you set whether the
offset for orientation axes is to be automatically applied. If a value is defined in the system
variable, then the programmed offset is automatically imported upon switch-on from the work
offset that is active for orientation axes:
264
Order of the geometry axes
X
Z
Y
Z
X
Y
Meaning
Pole crossing
The tool center point path (linear axis) must cross the pole on a continuous path.
Rotation around the pole.
The tool center point path must be restricted to a positive traversing range of the linear axis
(in front of turning center).
Rotation around the pole.
The tool center point path must be restricted to a negative traversing range of the linear axis.
(behind turning center).
Y
X
Z
Y
Z
X
Function Manual, 06/2019, A5E47435470B AA
Z
Y
X
X
Y
Z
Transformations