Siemens SINUMERIK 840DE sl Function Manual page 92

M1: Kinematics transformation
2.4 Chained transformations
; TRAANG
MD24300 $MC_TRAFO_TYPE_3=1024
MD24310 $MC_TRAFO_AXES_IN_3[0] = 2
MD24310 $MC_TRAFO_AXES_IN_3[1]=4
MD24310 $MC_TRAFO_AXES_IN_3[2] = 3
MD24320 $MC_TRAFO_GEOAX_ASSIGN_TAB_3[0] =2
MD24320 $MC_TRAFO_GEOAX_ASSIGN_TAB_3[1] =4
MD24320 $MC_TRAFO_GEOAX_ASSIGN_TAB_3[2] =3
MD24700 $MC_TRAANG_ANGLE_1 = 45.
MD24720 $MC_TRAANG_PARALLEL_VELO_RES_1 = 0.2
MD24721 $MC_TRAANG_PARALLEL_ACCEL_RES_1 = 0.2
MD24710 $MC_TRAANG_BASE_TOOL_1 [0] = 0.0
MD24710 $MC_TRAANG_BASE_TOOL_1 [1] = 0.0
MD24710 $MC_TRAANG_BASE_TOOL_1 [2] = 0.0
; 1. TRANSMIT/TRAANG chaining
MD24400 $MC_TRAFO_TYPE_4=8192
MD24995 $MC_TRACON_CHAIN_1[0] = 1
MD24995 $MC_TRACON_CHAIN_1[1] = 3
MD24995 $MC_TRACON_CHAIN_1[2] = 0
MD24995 $MC_TRACON_CHAIN_1[3] = 0
MD24410 $MC_TRAFO_AXES_IN_4[0]=1
MD24410 $MC_TRAFO_AXES_IN_4[1]=2
MD24410 $MC_TRAFO_AXES_IN_4[2]=3
MD24420 $MC_TRAFO_GEOAX_ASSIGN_TAB_4[0] =2
MD24420 $MC_TRAFO_GEOAX_ASSIGN_TAB_4[1] =1
MD24420 $MC_TRAFO_GEOAX_ASSIGN_TAB_4[2] =3
; 2. TRACYL/TRAANG chaining
MD24430 $MC_TRAFO_TYPE_5=8192
MD24996 $MC_TRACON_CHAIN_2[0] = 2
MD24996 $MC_TRACON_CHAIN_2[1] = 3
MD24996 $MC_TRACON_CHAIN_2[2]=0
MD24996 $MC_TRACON_CHAIN_2[3]=0
MD24432 $MC_TRAFO_AXES_IN_5[0]=1
MD24432 $MC_TRAFO_AXES_IN_5[1]=2
MD24432 $MC_TRAFO_AXES_IN_5[2]=3
MD24434 $MC_TRAFO_GEOAX_ASSIGN_TAB_5[0] =2
MD24434 $MC_TRAFO_GEOAX_ASSIGN_TAB_5[1] =1
MD24434 $MC_TRAFO_GEOAX_ASSIGN_TAB_5[2] =3
M17
Programming example
Program code
N10 $TC_DP1[1,1]=120
N20 $TC_DP3[1,1]=20
N30 $TC_DP4[1,1]=0
N40 $TC_DP5[1,1]=0
N50
N60 X0 Y0 Z0 F20000 T1 D1
N70
N80
N90 ID=1 WHENEVER TRUE DO $R0=$AA_ITR[X,0] $R1=$AA_ITR[X,1] $R2=$AA_ITR[X,2]
92
; TRACON (1)
; TRACON (2)
Comment
; Cyclic reading in the synchronized actions
Function Manual, 06/2019, A5E47435470B AA
Transformations