M1: Kinematic transformation
6.10 Examples
Extended Functions
432 Function Manual, 03/2013, 6FC5397-1BP40-3BA1
6.10.6 Axis positions in the transformation chain
Two chained transformations are configured in the following example, and the system
variables for determining the axis positions in the synchronous action are read cyclically in
the part program.
75$$1*75$160,7
[
\
]
\
;0
<0
=0
&
75$$1*75$&</
[
\
]
\
Machine data
CHANDATA(1)
MD24100 $MC_TRAFO_TYPE_1=256 ; TRANSMIT
MD24110 $MC_TRAFO_AXES_IN_1[0] = 2
MD24110 $MC_TRAFO_AXES_IN_1[1] = 1
MD24110 $MC_TRAFO_AXES_IN_1[2] = 3
MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1 [0] = 2
MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1 [1] = 1
MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1 [2] = 3
; TRACYL MD24200 $MC_TRAFO_TYPE_2=512
MD24210 $MC_TRAFO_AXES_IN_2[0]=2
MD24210 $MC_TRAFO_AXES_IN_2[1]=1
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