Siemens SINUMERIK Series - Chained Transformations

M1: Kinematic transformation
6.10 Examples
Extended Functions
Function Manual, 03/2013, 6FC5397-1BP40-3BA1
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MD24700 $MC_TRAANG_ANGLE_1 = 30. ; Angle of inclined axis
MD24710 $MC_TRAANG_BASE_TOOL_1 [0] = 0 ; tool center distance in X
MD24710 $MC_TRAANG_BASE_TOOL_1 [1] = 0 ; tool center distance in Y
MD24710 $MC_TRAANG_BASE_TOOL_1 [2] = 0 ; tool center distance in Z
TRAANG ; activation
; Programming in X,Y,Z
TRAFOOF ; Return to rotational operation
6.10.4 Chained transformations
Examples
The following section determines:
● The general channel configuration
● Single transformations
● Chained transformations consisting of previously defined single transformations
● Activation of single transformations
● Activation of chained transformations
The examples include the following transformations:
● 5-axis transformation with rotatable tool and axis sequence AB (trafo type 16)
● Transmit (trafo type 256)
● Inclined axis (trafo type 1024)
● Chaining of the 1st and 3rd transformation (trafo type 8192)
● Chaining of the 2nd and 3rd transformation (trafo type 8192)
General channel configuration
CHANDATA(1) ; Channel data in channel 1
MD20070 $MC_AXCONF_MACHAX_USED[0]=1
MD20070 $MC_AXCONF_MACHAX_USED[1]=2
MD20070 $MC_AXCONF_MACHAX_USED[2] = 3
MD20070 $MC_AXCONF_MACHAX_USED[3] = 4
MD20070 $MC_AXCONF_MACHAX_USED[4]=5
MD20070 $MC_AXCONF_MACHAX_USED[5]=6
MD20070 $MC_AXCONF_MACHAX_USED[6]=7
MD20070 $MC_AXCONF_MACHAX_USED[7] = 0
MD20080 $MC_AXCONF_CHANAX_NAME_TAB[3]="A"