Chained Transformations - Siemens SINUMERIK 840D sl Function Manual

Kinematic Transformation (M1)
7.10 Examples
7.10.4

Chained transformations

Examples
The following chapter determines:
● The general channel configuration
● Single transformations
● Chained transformations consisting of previously defined single transformations
● Activation of single transformations
● Activation of chained transformations
The examples include the following transformations:
● 5-axis transformation with rotatable tool and axis sequence AB (trafo type 16)
● Transmit (trafo type 256)
● Inclined axis (trafo type 1024)
● Chaining of the 1st and 3rd transformation (trafo type 8192)
● Chaining of the 2nd and 3rd transformation (trafo type 8192)
General channel configuration
CHANDATA(1)
MD20070 $MC_AXCONF_MACHAX_USED[0]=1
MD20070 $MC_AXCONF_MACHAX_USED[1] = 2
MD20070 $MC_AXCONF_MACHAX_USED[2] = 3
MD20070 $MC_AXCONF_MACHAX_USED[3] = 4
MD20070 $MC_AXCONF_MACHAX_USED[4]=5
MD20070 $MC_AXCONF_MACHAX_USED[5]=6
MD20070 $MC_AXCONF_MACHAX_USED[6]=7
MD20070 $MC_AXCONF_MACHAX_USED[7] = 0
MD20080 $MC_AXCONF_CHANAX_NAME_TAB[3]="A"
MD20080 $MC_AXCONF_CHANAX_NAME_TAB[4]="B"
MD20080 $MC_AXCONF_CHANAX_NAME_TAB[5] = "C"
MD36902 $MA_IS_ROT_AX[ AX4 ] = TRUE
MD36902 $MA_IS_ROT_AX[ AX5 ] = TRUE
MD36902 $MA_IS_ROT_AX[ AX6 ] = TRUE
MD36902 $MA_IS_ROT_AX[ AX7 ] = TRUE
MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[AX5]= 0
MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[AX7] = 1
MD35000 $MA_ROT_IS_MODULO[AX7] = TRUE
576
; Channel data in channel 1
Function Manual, 01/2008, 6FC5397-1BP10-3BA0
Extended Functions