Siemens SINUMERIK 840D sl Function Manual page 21

16.8 Supplementary conditions....................................................................................................621
16.8.1 Functional boundary conditions...........................................................................................621
16.8.2 Axial NC/PLC interface signals............................................................................................623
16.8.3 Interaction with other functions............................................................................................624
16.9 Examples.............................................................................................................................630
16.9.1 Master-slave coupling between AX1=Master and AX2=Slave.............................................630
16.9.2 Close coupling via the PLC..................................................................................................630
16.9.3 Closing/separating the coupling via the part program for the SINUMERIK 840D sl............631
16.9.4 Release the mechanical brake.............................................................................................632
16.10 Data lists..............................................................................................................................633
16.10.1 Machine data........................................................................................................................633
16.10.1.1 Axis/spindlespecific machine data.......................................................................................633
16.10.2 System variables..................................................................................................................633
16.10.3 Signals.................................................................................................................................634
16.10.3.1 Signals to axis/spindle..........................................................................................................634
16.10.3.2 Signals from axis/spindle.....................................................................................................634
17 TE4: Handling transformation package - 840D sl only.............................................................................635
17.1 Brief description...................................................................................................................635
17.2 Kinematic transformation.....................................................................................................636
17.3 Definition of terms................................................................................................................636
17.3.1 Units and directions..............................................................................................................636
17.3.2 Definition of positions and orientations using frames...........................................................637
17.3.3 Definition of a joint................................................................................................................638
17.4 Configuration of a kinematic transformation.........................................................................639
17.4.1 General machine data..........................................................................................................640
17.4.2 Parameterization using geometry data................................................................................641
17.5 Descriptions of kinematics...................................................................................................653
17.5.1 3-axis kinematics..................................................................................................................653
17.5.2 4-axis kinematics..................................................................................................................660
17.5.3 5-axis kinematics..................................................................................................................666
17.5.4 6-axis kinematics..................................................................................................................670
17.5.5 Special kinematics...............................................................................................................671
17.6 Tool orientation....................................................................................................................675
17.6.1 Orientation programming for 4-axis kinematics....................................................................677
17.6.2 Orientation programming for 5-axis kinematics....................................................................678
17.7 Singular positions and how they are handled......................................................................679
17.8 Call and application of the transformation............................................................................680
17.9 Actual value display.............................................................................................................681
17.10 Tool programming................................................................................................................682
17.11 Cartesian PTP travel with handling transformation package...............................................683
17.12 Startup..................................................................................................................................683
17.12.1 General commissioning........................................................................................................683
17.12.2 Function-specific commissioning.........................................................................................683
17.13 Supplementary conditions....................................................................................................685
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Table of contents
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