Siemens SINUMERIK Series

M1: Kinematic transformation
6.10 Examples
Extended Functions
Function Manual, 03/2013, 6FC5397-1BP40-3BA1
433
MD24210 $MC_TRAFO_AXES_IN_2[2]=3
MD24220 $MC_TRAFO_GEOAX_ASSIGN_TAB_2[0] =2
MD24220 $MC_TRAFO_GEOAX_ASSIGN_TAB_2[1] =1
MD24220 $MC_TRAFO_GEOAX_ASSIGN_TAB_2[2] =3
MD24300 $MC_TRAFO_TYPE_3=1024 ; TRAANG
MD24310 $MC_TRAFO_AXES_IN_3[0] = 2
MD24310 $MC_TRAFO_AXES_IN_3[1]=4
MD24310 $MC_TRAFO_AXES_IN_3[2] = 3
MD24320 $MC_TRAFO_GEOAX_ASSIGN_TAB_3[0] =2
MD24320 $MC_TRAFO_GEOAX_ASSIGN_TAB_3[1] =4
MD24320 $MC_TRAFO_GEOAX_ASSIGN_TAB_3[2] =3
MD24700 $MC_TRAANG_ANGLE_1 = 45.
MD24720 $MC_TRAANG_PARALLEL_VELO_RES_1 = 0.2
MD24721 $MC_TRAANG_PARALLEL_ACCEL_RES_1 = 0.2
MD24710 $MC_TRAANG_BASE_TOOL_1 [0] = 0.0
MD24710 $MC_TRAANG_BASE_TOOL_1 [1] = 0.0
MD24710 $MC_TRAANG_BASE_TOOL_1 [2] = 0.0
1st TRANSMIT / TRAANG chaining
MD24400 $MC_TRAFO_TYPE_4=8192 ; TRACON (1)
MD24995 $MC_TRACON_CHAIN_1[0] = 1
MD24995 $MC_TRACON_CHAIN_1[1] = 3
MD24995 $MC_TRACON_CHAIN_1[2] = 0
MD24995 $MC_TRACON_CHAIN_1[3] = 0
MD24410 $MC_TRAFO_AXES_IN_4[0]=1
MD24410 $MC_TRAFO_AXES_IN_4[1]=2
MD24410 $MC_TRAFO_AXES_IN_4[2]=3
MD24420 $MC_TRAFO_GEOAX_ASSIGN_TAB_4[0] =2
MD24420 $MC_TRAFO_GEOAX_ASSIGN_TAB_4[1] =1
MD24420 $MC_TRAFO_GEOAX_ASSIGN_TAB_4[2] =3
2nd TRACYL / TRAANG chaining
MD24430 $MC_TRAFO_TYPE_5=8192 ; TRACON (2)
MD24996 $MC_TRACON_CHAIN_2[0] = 2
MD24996 $MC_TRACON_CHAIN_2[1] = 3
MD24996 $MC_TRACON_CHAIN_2[2]=0
MD24996 $MC_TRACON_CHAIN_2[3]=0
MD24432 $MC_TRAFO_AXES_IN_5[0]=1
MD24432 $MC_TRAFO_AXES_IN_5[1]=2
MD24432 $MC_TRAFO_AXES_IN_5[2]=3