Parameterization Using Geometry Data - Siemens SINUMERIK 840D sl Function Manual

17.4.2

Parameterization using geometry data

Modular principle
The machine geometry is parameterized according to a type of modular principle. With this
method, the machine is successively configured in geometry parameters from its base center
point to the tool tip, thereby producing a closed kinematic loop. In this case, frames are used
to describe the geometry. While the control is powering up, the configuration machine data is
checked and alarms displayed when relevant. All axes of the mode group are tracked as alarm
response. The alarms can be deleted using POWER ON.
As shown in the following diagram "Closed kinematic loop illustrated by the example of a robot",
the kinematic transformation converts the tool operating point (tool coordinate system: X
Y , Z
TO
X , Y
RO
(XWZ, YWZ, ZWZ) is specified in the part program in relation to the workpiece to be machined
(workpiece coordinate system WCS: X
possible to create an offset between the workpiece coordinate system (WCS) and the base
coordinate system (BCS).
Figure 17-3
Note
For more detailed information about coordinate systems, please see:
Reference:
Function Manual Basic Functions;
Chapter "K2, axes, coordinate systems, frames" > "Coordinate systems"
The following machine data is available for configuring kinematic transformations:
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
), specified relative to the base coordinate system (BCS = robot coordinate system:
TO
, Z ), in machine axis values (MCS positions: A1, A2, A3, ...). The operating point
RO RO
Closed kinematic loop illustrated by the example of a robot
TE4: Handling transformation package - 840D sl only
17.4 Configuration of a kinematic transformation
, Y , Z ). The programmable frames make it
WS WS WS
,
TO
641