Siemens SINUMERIK Series

M1: Kinematic transformation
6.2 TRANSMIT face end transformation (option)
Extended Functions
Function Manual, 03/2013, 6FC5397-1BP40-3BA1
353
Direction of rotation: TRANSMIT_ROT_SIGN_IS_PLUS
TRANSMIT must be informed of the rotary axis direction of rotation with the following
machine data:
● The rotary axis direction of rotation with regard to TRANSMIT is positive if the rotary axis
rotates counterclockwise in relation to the X/Y plane looking at the X axis, when
traversing in the positive direction.
● The rotary axis direction of rotation with regard to TRANSMIT is negative if it rotates
clockwise when traversing in the positive direction
;
=
<
;
=
<
 
① Positive direction of rotation
② Negative direction of rotation
Figure 6-1 Rotary axis direction of rotation
$MC_TRANSMIT_ROT_SIGN_IS_PLUS_<t> = <direction of rotation>
with t = 1, 2
<Direction of rotation> Meaning
0 Negative rotary axis direction of rotation ⇒ internal sign reversal
1 Positive rotary axis direction of rotation ⇒ no internal sign reversal
Position of tool zero: TRANSMIT_BASE_TOOL
The position of the tool zero is specified in relation to the origin of the effective Cartesian
coordinate system for TRANSMIT:
● MD24920 $MC_TRANSMIT_BASE_TOOL_<t>[ 0 ] = <offset in X>
● MD24920 $MC_TRANSMIT_BASE_TOOL_<t>[ 1 ] = <offset in Y>
● MD24920 $MC_TRANSMIT_BASE_TOOL_<t>[ 2 ] = <offset in Z>
with t = 1, 2