Siemens SINUMERIK Series

M1: Kinematic transformation
6.10 Examples
Extended Functions
428 Function Manual, 03/2013, 6FC5397-1BP40-3BA1
MD20080 $MC_AXCONF_CHANAX_NAME_TAB[4]="B"
MD20080 $MC_AXCONF_CHANAX_NAME_TAB[5] = "C"
MD36902 $MA_IS_ROT_AX[ AX4 ] = TRUE
MD36902 $MA_IS_ROT_AX[ AX5 ] = TRUE
MD36902 $MA_IS_ROT_AX[ AX6 ] = TRUE
MD36902 $MA_IS_ROT_AX[ AX7 ] = TRUE
MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[AX5]= 0
MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[AX7] = 1
MD35000 $MA_ROT_IS_MODULO[AX7] = TRUE
Single transformations
; 1. TRAORI
MD24470 $MC_TRAFO_TYPE_1= 16 ; TRAORI: A-B kinematics
MD24410 $MC_TRAFO_AXES_IN_1[0]=1
MD24410 $MC_TRAFO_AXES_IN_1[1]=2
MD24410 $MC_TRAFO_AXES_IN_1[2]=3
MD24410 $MC_TRAFO_AXES_IN_1[3]=4
MD24410 $MC_TRAFO_AXES_IN_1[4]=5
MD24410 $MC_TRAFO_AXES_IN_1[5]=0
MD24120$MC_TRAFO_GEOAX_ASSIGN_TAB_1[0]=1
MD24120$MC_TRAFO_GEOAX_ASSIGN_TAB_1[1]=2
MD24120$MC_TRAFO_GEOAX_ASSIGN_TAB_1[2]=3
MD24550$MC_TRAFO5_BASE_TOOL_1[0]=0
MD24550$MC_TRAFO5_BASE_TOOL_1[1]=0
MD24550$MC_TRAFO5_BASE_TOOL_1[2]=0
; 2. TRANSMIT
MD24200 $MC_TRAFO_TYPE_2 = 256 ; TRANSMIT
MD24210 $MC_TRAFO_AXES_IN_2[0] = 1
MD24210 $MC_TRAFO_AXES_IN_2[1] = 6
MD24210 $MC_TRAFO_AXES_IN_2[2]=3
MD24210 $MC_TRAFO_AXES_IN_2[3] = 0
MD24210 $MC_TRAFO_AXES_IN_2[4] = 0
MD24210 $MC_TRAFO_AXES_IN_2[5] = 0
MD24210 $MC_TRAFO_AXES_IN_2[6]=0
MD24220 $MC_TRAFO_GEOAX_ASSIGN_TAB_2[0] =1
MD24220 $MC_TRAFO_GEOAX_ASSIGN_TAB_2[1] =6
MD24220 $MC_TRAFO_GEOAX_ASSIGN_TAB_2[2] =3