M1: Kinematic transformation
6.2 TRANSMIT face end transformation (option)
Extended Functions
352 Function Manual, 03/2013, 6FC5397-1BP40-3BA1
One rotary and two linear axes: TRAFO_TYPE = 257
The transformation type 257 must be set for TRANSMIT with a rotary and two linear axes:
$MC_TRAFO_TYPE_<n> = 257
with n = 1, 2, ... max. number of transformations
The second linear axis must be oriented perpendicular to the plane clamped by the rotary
and the linear axis. The second linear axis for TRANSMIT is used exclusively for tool
correction.
Transformation input axes: $MC_TRAFO_AXES_IN_<n>
Those channel axes are specified in the machine data on which the axes of the
transformation Cartesian coordinate system are to be mapped:
$MC_TRAFO_AXES_IN_<n>[ <index> ] = <channel axis number>
with n = 1, 2, ... max. number of transformations
<Index> Meaning
0 Linear axis perpendicular to rotary axis
1 Rotary axis
2 Linear axis parallel to rotary axis
3 Linear axis perpendicular to the axes from index 0 and 1
The channel axis numbers must refer to the axis sequence defined with
$MC_TRAFO_GEOAX_ASSIGN_TAB_<n>.
Rotary axis offset: TRANSMIT_ROT_AX_OFFSET
If the rotary axis zero point does not match the rotary axis zero position when the
TRANSMIT transformation is active, the angular difference must be entered as an offset in
the machine data:
$MC_TRANSMIT_ROT_AX_OFFSET_<t> =
<angular difference>
with t = 1, 2
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