Siemens SINUMERIK Series Function Manual

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M1: Kinematic transformation6.5 Chained transformationsExtended Functions396 Function Manual, 03/2013, 6FC5397-1BP40-3BA1$AA_ITR[ , ]The $AA_ITR[ax,n] variable determines the setpoint position of an axis at the output of thenth chained transformation.7UDQVI 7UDQVI 7UDQVI7UDQVI/D\HU/D\HU/D\HU/D\HU/D\HU%&6 0&6[]\[]\[]\[]\[]\Figure 6-15 Transformer layerTransformer layerThe 2nd index of the variable corresponds to the transformer layer in which the positions aretapped:● Transformer layer 0: The positions correspond to the BCS positions, i.e.:$AA_ITR[x,0] == $AA_IB[x]● Transformer layer 1: Setpoint positions at output of 1st transformation● Transformer layer 2: Setpoint positions at output of 2nd transformation● Transformer layer 3: Setpoint positions at output of 3rd transformation● Transformer layer 4: Setpoint positions at output of 4th transformation, i.e.$AA_ITR[x,4] == $AA_IM[x]If one or more transformations of the transformer chain are missing, the highest layerscontinue to deliver the same values. If, e.g. Transformer 3 and Transformer 4 are missing,this corresponds to:$AA_ITR[x,2] = $AA_ITR[x,3] = $AA_ITR[x,4] = $AA_IM[x]If the transformations are shut off via TRAFOOF or in RESET, the Layers 0 to 4 fuse togetherand the variable always delivers the BCS value (Layer 0) in this case.AxisEither a geometry, channel or a machine axis name is permissible as the 1st index of thevariable. The assignment of the channel axes to the geometry axes corresponding to the 0layer takes place during the programming of geometry axis name in each transformer layer.Using geometry axis names is meaningful only if the geometry axes are not switched over.Otherwise it is always better to use channel axis names.