Siemens sinumerik 840D sl Function Manual

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Detailed description2.3 Configuration of a kinematic transformationSpecial functions: Handling Transformation Package (TE4)Function Manual, 11/2006, 6FC5397-2BP10-2BA0 112.3.1 General machine dataMD24100 $MC_TRAFO_TYPE_1 (definition of channel transformation 1)The value 4099 must be entered in this data for the handling transformation package.MD24110 $MC_TRAFO_AXES_IN_1 (axis assignment for transformation)The axis assignment at the transformation input defines which transformation axis is mappedinternally onto a channel axis. It is specified in machine data:MD24110 $MC_TRAFO_AXES_IN_1There is a predetermined axis sequence for the handling transformation package, i.e. thefirst n channel axes must be assigned to the n transformation axes in ascending sequence:• MD24110 $MC_TRAFO_AXES_IN_1[0] = 1• MD24110 $MC_TRAFO_AXES_IN_1[1] = 2• MD24110 $MC_TRAFO_AXES_IN_1[2] = 3• MD24110 $MC_TRAFO_AXES_IN_1[3] = 4• MD24110 $MC_TRAFO_AXES_IN_1[4] = 5• MD24110 $MC_TRAFO_AXES_IN_1[5] = 6MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1 (assignment between geometry axis and channelaxis for transformation 1)The translational degrees of freedom that are available for the transformation are entered viamachine data:MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1The 3 geometry axes normally correspond to Cartesian axis directions X, Y and Z.• MD24120 $MC_TRAFO_GEO_AX_ASSIGN_TAB_1[0] = 1• MD24120 $MC_TRAFO_GEO_AX_ASSIGN_TAB_1[1] = 2• MD24120 $MC_TRAFO_GEO_AX_ASSIGN_TAB_1[2] = 32.3.2 Parameterization using geometry dataModular principleThe machine geometry is parameterized according to a type of modular principle. With thismethod, the machine is successively configured in geometry parameters from its base centerpoint to the tool tip, thereby producing a closed kinematic loop. For this purpose, frames (seeSubsection "Definition of positions and orientations using frames") are used to describe thegeometry. While the control is powering up, the configuration machine data are checked andalarms generated when necessary.