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SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 37

M1: Kinematic transformation

8.1 TRANSMIT face end transformation (option)

Corner without pole traversal

&RUQHU

[

[

$SSURDFK WR

([LW IURP SROH

SROH

Figure 8-4

Machining on one pole side

Requirements:

AUTOMATIC mode,

MD24911 $MC_TRANSMIT_POLE_SIDE_FIX_1 = 1 or 2

or

MD24951 $MC_TRANSMIT_POLE_SIDE_FIX_2 = 1 or 2

The control system inserts a traversing block at the step change point. This block generates

the necessary rotation so that machining of the contour can continue on the same side of the

pole.

Transformation selection in pole

If the machining operation must continue from a position on the tool center path which

corresponds to the pole of the activated transformation, then an exit from the pole is specified

for the new transformation.

If

MD24911 $MC_TRANSMIT_POLE_SIDE_FIX_1 = 0

or

MD24951 $MC_TRANSMIT_POLE_SIDE_FIX_2 = 0

is set (pole transition), then a rotation as small as possible is generated at the beginning of the

block originating in the pole. Depending on this rotation, the axis then traverses either in front

of or behind the turning center.

For

MD24911 $MC_TRANSMIT_POLE_SIDE_FIX_1 = 1

or

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

417

M1: Kinematic transformation

8.1 TRANSMIT face end transformation (option)

MD24951 $MC_TRANSMIT_POLE_SIDE_FIX_2 = 1

machining is done before the rotational center point (linear axis in positive traversing range),

for

MD24911 $MC_TRANSMIT_POLE_SIDE_FIX_1 = 2

or

MD24951 $MC_TRANSMIT_POLE_SIDE_FIX_2 = 2

behind the rotational center point (linear axis in negative traversing range).

Transformation selection outside pole

The control system moves the axes involved in the transformation without evaluating machine

data MD24911 $MC_TRANSMIT_POLE_SIDE_FIX_<t>. In this case, <t> = 1 stands for the

first and <t> = 2 for the second TRANSMIT transformation in the channel.

8.1.1.3

Working area limitations

Initial situation

When TRANSMIT is active, the pole is replaced by a working area limitation if the tool center

point cannot be positioned at the turning center of the rotary axis involved in the transformation.

This is the case when the axis perpendicular to the rotary axis (allowing for tool offset) is not

positioned on the same radial plane as the rotary axis or if both axes are positioned mutually

at an oblique angle. The distance between the two axes defines a cylindrical space in the BCS

in which the tool cannot be positioned.

The illegal range cannot be protected by the software limit switch monitoring function since

the traversing range of the machine axes is not affected.

[

'LVWDQFH EHWZHHQ D[HV

XQPDFKLQDEOH F\OLQGHU RI

WKH ZRUNLQJ DUHD OLPLWDWLRQ

Figure 8-5

Working area limitation based on offset linear axis

Extended Functions

418

Function Manual, 12/2018, A5E40874029B AB

M1: Kinematic transformation

8.1 TRANSMIT face end transformation (option)

8.1.2.2

Axis configuration

The following shows an axis configuration that is typical of TRANSMIT.

0'

0&B$;&21)B*(2$;B$66,*1B7$%

&KDQQHO

0'

&KDQQHO

0&B $;&21)B*(2$;B1$0(B7$%

&KDQQHO

&KDQQHO

VW JHRPHWU\ D[LV > @

;

0'

QG JHRPHWU\ D[LV > @

<

0&B75$)2B*(2$;B$66,*1B7$%

UG JHRPHWU\ D[LV > @

=

&KDQQHO

&KDQQHO

0'

0'

0&B $;&21)B&+$1$;B1$0(B7$%

0&B$;&21)B0$&+$;B86('

&KDQQHO

&KDQQHO

&KDQQHO

&KDQQHO

VW FKDQQHO D[LV > @

;&

QG FKDQQHO D[LV > @

=&

UG FKDQQHO D[LV > @

&&

WK FKDQQHO D[LV > @

$6&

0'

0'

0$B63,1'B$66,*1B72B0$&+$;

0$B$;&21)B0$&+$;B1$0(B7$%

VW PDFKLQH D[LV >$; @

&0

QG PDFKLQH D[LV >$; @

;0

UG PDFKLQH D[LV >$; @

=0

WK PDFKLQH D[LV >$; @

$60

① Effective if TRANSMIT is active.

Machine axis name

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 0 ] = "CM"

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 1 ] = "XM"

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 2 ] = "ZM"

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 3 ] = "ASM"

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

421

M1: Kinematic transformation

8.1 TRANSMIT face end transformation (option)

8.1.2.3

Specific settings

One rotary and one linear axis: TRAFO_TYPE = 256

The transformation type 256 must be set for TRANSMIT with a rotary and a linear axis:

$MC_TRAFO_TYPE_<n> = 256

where <n> = 1, 2, ... max. number of transformations

Transformation input axes: $MC_TRAFO_AXES_IN_<n>

Those channel axes are specified in the machine data on which the axes of the transformation

Cartesian coordinate system are to be mapped:

$MC_TRAFO_AXES_IN_<n>[ <index> ] = <channel axis number>

where <n> = 1, 2, ... max. number of transformations

<Index>

Meaning

0

Linear axis, perpendicular to rotary axis

1

Rotary axis

2

Linear axis, parallel to rotary axis

The channel axis numbers must refer to the axis sequence defined with

$MC_TRAFO_GEOAX_ASSIGN_TAB_<n>.

One rotary and two linear axes: TRAFO_TYPE = 257

The transformation type 257 must be set for TRANSMIT with a rotary and two linear axes:

$MC_TRAFO_TYPE_<n> = 257

where <n> = 1, 2, ... max. number of transformations

The second linear axis must be oriented perpendicular to the plane clamped by the rotary and

the linear axis. The second linear axis for TRANSMIT is used exclusively for tool correction.

Transformation input axes: $MC_TRAFO_AXES_IN_<n>

Those channel axes are specified in the machine data on which the axes of the transformation

Cartesian coordinate system are to be mapped:

$MC_TRAFO_AXES_IN_<n>[ <index> ] = <channel axis number>

where <n> = 1, 2, ... max. number of transformations

<Index>

Meaning

0

Linear axis, perpendicular to rotary axis

1

Rotary axis

2

Linear axis, parallel to rotary axis

3

Linear axis perpendicular to the axes from index 0 and 1

The channel axis numbers must refer to the axis sequence defined with

$MC_TRAFO_GEOAX_ASSIGN_TAB_<n>.

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

423

M1: Kinematic transformation

8.1 TRANSMIT face end transformation (option)

Rotary axis offset: TRANSMIT_ROT_AX_OFFSET

If the rotary axis zero point does not match the rotary axis zero position when the TRANSMIT

transformation is active, the angular difference must be entered as an offset in the machine

data:

$MC_TRANSMIT_ROT_AX_OFFSET_<t> = <angular difference>

where <t> = 1, 2

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 direction of rotation of the rotary axis is positive with regard to TRANSMIT if the rotary

axis rotates counterclockwise (in relation to the X/Y plane looking at the Z 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 8-6

Rotary axis direction of rotation

$MC_TRANSMIT_ROT_SIGN_IS_PLUS_<t> = <direction of rotation>

where <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 the 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>

where <t> = 1, 2

Extended Functions

424

Function Manual, 12/2018, A5E40874029B AB

M1: Kinematic transformation

8.1 TRANSMIT face end transformation (option)

Replaceable geometry axes

When the GEOAX() geometry axes are switched, the parameterized M function is output to

the NC/PLC interface:

● MD22534 $MC_TRAFO_CHANGE_M_CODE = <M function>

Note

The values 0 to 6, 17 and 30 are not output.

References:

Function Manual Basic Functions; K2, "Coordinate Systems, Axis Types, Axis Configurations,

Workpiece-related Actual-Value System, External Zero Offset"

8.1.3

Programming

The front face transformation (TRANSMIT) is activated in the part program or synchronized

action using the TRANSMIT statement.

Syntax

TRANSMIT

TRANSMIT(<n>)

Meaning

TRANSMIT:

Activate TRANSMIT with the first TRANSMIT data set

TRANSMIT(n):

Activate TRANSMIT with the nth TRANSMIT data set

Note

A TRANSMIT transformation active in the channel is activated with:

● Deactivate transformation: TRAFOOF

● Activation of another transformation: E.g. TRACYL, TRAANG, TRAORI

8.1.4

Constraints

Look Ahead

All functions requiring Look Ahead (traversal through pole, Look Ahead) work satisfactorily

only if the relevant axis motions can be calculated exactly in advance. With TRANSMIT, this

applies to the rotary axis and the linear axis perpendicular to it. If one of these axes is the

positioning axis, then the Look Ahead function is deactivated by alarm 10912 and the

conventional online velocity check activated instead.

Extended Functions

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425

M1: Kinematic transformation

8.1 TRANSMIT face end transformation (option)

8.1.5

Example

The example refers to the axis configuration shown in the following figure.

&0

X, Y, Z

Geometry axes

CM

1st machine axis: Rotary axis

XM

2nd machine axis: Linear axis, perpendicular to rotary axis

ZM

3rd machine axis: Linear axis, parallel to rotary axis

ASM

4th machine axis: Main spindle

Parameter assignment

Machine axis name

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 0 ] = "CM" (1st machine axis: spindle/

rotary axis)

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 1 ] = "XM" (2nd machine axis: linear

axis)

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 2 ] = "ZM" (3rd machine axis: linear axis)

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 3 ] = "ASM" (4th machine axis: spindle)

Geometry axis names

● MD20060 $MC_AXCONF_GEOAX_NAME_TAB[ 0 ] = "X" (name of the 1st geometry axis)

● MD20060 $MC_AXCONF_GEOAX_NAME_TAB[ 1 ] = "Y" (name of the 2nd geometry axis)

● MD20060 $MC_AXCONF_GEOAX_NAME_TAB[ 2 ] = "Z" (name of the 3rd geometry axis)

Channel axis names

● MD20080 $MC_AXCONF_CHANAX_NAME_TAB[ 0 ] = "XC" (linear axis)

● MD20080 $MC_AXCONF_CHANAX_NAME_TAB[ 1 ] = "ZC" (linear axis)

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

427

M1: Kinematic transformation

8.2 TRACYL cylinder surface transformation (option)

Program code

Comment

N160 Y10

N170 X10

N180 Y-10

N190 Z20 G40

N200 TRANS

; deselect frame

N210 TRAFOOF

; TRANSMIT OFF

N220 G0 X20 Z10 SPOS=45

; approach the start position

N230 M30

8.2

TRACYL cylinder surface transformation (option)

8.2.1

Function

Note

The licensed "TRANSMIT and peripheral surface transformation" option is required for the

function "Cylinder surface transformation (TRACYL)."

The TRACYL transformation permits the machining of cylinder jacket curves (grooves) on

turning machines.

The path of the grooves is programmed with reference to the unwrapped, level surface of the

cylinder.

The controller transforms the programmed traversing movements of the cylinder coordinate

system to the traversing movements of the real machine axes.

;

<

=

Extended Functions

430

Function Manual, 12/2018, A5E40874029B AB

M1: Kinematic transformation

8.2 TRACYL cylinder surface transformation (option)

<

RU &0

$60

= RU =0

;0

XM

Infeed axis perpendicular to the turning center

ZM

Linear axis parallel to the turning center

Y / CM

Transformatory Y axis / rotary axis

ASM

Main spindle

Figure 8-7

Machine kinematics with two linear axes

Groove edges

For a cylinder surface transformation without groove wall correction, the edges of the groove

longitudinal to the rotary axis (longitudinal grooves) are only parallel if the groove width

corresponds to the tool diameter. For groove widths greater than the tool diameter, the groove

edges are at an angle to each other (see ①).

The groove edges of grooves that extend parallel to the circumference (transverse grooves)

are not parallel to each other (see ②). Only the start and the end of the groove edges are not

parallel.

① Longitudinal groove

② Transverse groove

Figure 8-8

Groove edges with TRACYL without groove side offset

Extended Functions

432

Function Manual, 12/2018, A5E40874029B AB

M1: Kinematic transformation

8.2 TRACYL cylinder surface transformation (option)

TRACYL with groove wall offset

The cylinder surface transformation with groove wall offset is used for machine kinematics with

three linear axes (X, Y, and Z) (axis configuration 2).

<

RU &0

= RU =0

<0

$60

;0

XM

Infeed axis perpendicular to the turning center

YM

Supplementary axis perpendicular to the X-Z plane

ZM

Linear axis parallel to the turning center

Y / CM

Transformatory Y axis / rotary axis

ASM

Main spindle

Figure 8-9

Machine kinematics with three linear axes

For a machine kinematic with three linear axes (X, Y and Z), grooves of any form can be

generated on the cylinder.

Groove edges

Because the Y axis is oriented perpendicular to the turning center, almost parallel groove edges

can be generated even for groove widths larger than the tool diameter.

Figure 8-10

Parallel limited longitudinal groove with TRACYL with groove side offset

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

433

M1: Kinematic transformation

8.2 TRACYL cylinder surface transformation (option)

8.2.2.2

Axis configuration

The following shows an axis configuration that is typical of TRACYL.

0'

0&B$;&21)B*(2$;B$66,*1B7$%

&KDQQHO

0'

&KDQQHO

0&B $;&21)B*(2$;B1$0(B7$%

&KDQQHO

&KDQQHO

VW JHRPHWU\ D[LV > @

;

0'

QG JHRPHWU\ D[LV > @

<

0&B75$)2B*(2$;B$66,*1B7$%

UG JHRPHWU\ D[LV > @

=

&KDQQHO

&KDQQHO

0'

0'

0&B $;&21)B&+$1$;B1$0(B7$%

0&B$;&21)B0$&+$;B86('

&KDQQHO

&KDQQHO

&KDQQHO

&KDQQHO

VW FKDQQHO D[LV > @

;&

QG FKDQQHO D[LV > @

<&

UG FKDQQHO D[LV > @

=&

WK FKDQQHO D[LV > @

&&

WK FKDQQHO D[LV > @

$6&

0'

0'

0$B63,1'B$66,*1B72B0$&+$;

0$B$;&21)B0$&+$;B1$0(B7$%

VW PDFKLQH D[LV >$; @

&0

QG PDFKLQH D[LV >$; @

;0

UG PDFKLQH D[LV >$; @

<0

WK PDFKLQH D[LV >$; @

=0

WK PDFKLQH D[LV >$; @

$60

① Effective if TRACYL is active.

Machine axis name

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 0 ] = "CM"

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 1 ] = "XM"

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 2 ] = "YM"

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 3 ] = "ZM"

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 4 ] = "ASM"

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

435

M1: Kinematic transformation

8.2 TRACYL cylinder surface transformation (option)

Identification of spindles

● MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[ 0 ] = 1 (spindle)

● MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[ 1 ] = 0 (axis)

● MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[ 2 ] = 0 (axis)

● MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[ 3 ] = 0 (axis)

● MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[ 4 ] = 2 (spindle)

8.2.2.3

Specific settings

Setting the transformation type

The transformation type is set specifically for the transformation data set in:

$MC_TRAFO_TYPE_<n> = <transformation type>

where <n> = 1, 2, ... max. number of transformations

Axis configuration

<transformation type>

1

512

2

513 or 514

The TRACYL transformation with programmed groove side offset (type 514) can be activated

with or without groove side offset (see "Programming (Page 441)").

Transformation type 514 without groove wall offset

If the machine has another linear axis which is perpendicular to both the rotary axis and the

first linear axis, transformation type 514 can be used to apply tool offsets with the real Y axis.

In this case, it is assumed that the working area of the second linear axis is small and will not

be used to execute the part program.

The existing settings for MD10000 $MC_TRAFO_GEOAX_ASSSIGN_TAB_<n> apply.

Grooves with groove side offset

The required inclusion of the tool offset has already been taken into account for the TRACYL

transformation with groove side offset.

Axis image

The following paragraph describes how the transformation axis image is specified.

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

437

M1: Kinematic transformation

8.2 TRACYL cylinder surface transformation (option)

Rotational position

The rotational position of the axis on the cylinder peripheral surface perpendicular to the rotary

axis must be defined as follows:

<

E

$QJOH D E LQ

D

GHJUHHV

D

5RWDWLRQDO SRVLWLRQ RI URWDU\ D[LV ZLWK &

E

3RVLWLRQ RI <

Figure 8-11

Center of axis rotation in the peripheral cylinder surface

MD24800 TRACYL_ROT_AX_OFFSET_<t>

The rotational position of the peripheral surface in relation to the defined zero position of the

rotary axis is specified with:

MD24800 $MC_TRACYL_ROT_AX_OFFSET_<t> = ...°

In this case, <t> is replaced by the number of TRACYL transformations declared in the

transformation data blocks (<t> must not be greater than 2).

Direction of rotation

The direction of rotation of the rotary axis is specified by machine data as described in the

following paragraph.

TRACYL_ROT_SIGN_IS_PLUS_<t>

If the direction of rotation of the rotary axis on the x-y plane is counterclockwise when viewed

against the z axis, then the machine data must be set to TRUE, otherwise to FALSE.

\

758(

[

MD24810 $MC_TRACYL_ROT_SIGN_IS_PLUS_<t>=TRUE

In this case, "t" is substituted by the number of TRACYL transformations declared in the

transformation data blocks (t may not be greater than 2).

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

439

M1: Kinematic transformation

8.2 TRACYL cylinder surface transformation (option)

Replaceable geometry axes

The PLC is informed when a geometry axis has been replaced using GEOAX( ) through the

optional output of an M code that can be set in machine data.

● MD22534 $MC_TRAFO_CHANGE_M_CODE

Number of the M code that is output at the VDI interface in the case of transformation

changeover.

Note

If this machine data is set to one of the values 0 to 6, 17, 30, then no M code is output.

References:

Function Manual Basic Functions; Coordinate Systems, Axis Types, Axis Configurations,

Workpiece-related Actual-Value System, External Zero Offset (K2)

Position of tool zero

The position of the tool zero point in relation to the origin of the Cartesian coordinate system

is specified by machine data as described in the following paragraph.

MD24820 TRACYL_BASE_TOOL_<t>

This machine data is used to inform the control of the tool zero point position in relation to the

origin of the cylinder coordinate system declared for TRACYL. The machine data has three

components for the axes X, Y, Z of the machine coordinate system.

W\

W[

=

<

;

W]

<&

7RRO ]HUR

Figure 8-12

Position of tool zero in relation to machine zero

Example

MD24820 $MC_TRACYL_BASE_TOOL_<t>[ 0 ] = tx

MD24820 $MC_TRACYL_BASE_TOOL_<t>[ 1 ] = ty

MD24820 $MC_TRACYL_BASE_TOOL_<t>[ 2 ] = tz

Extended Functions

440

Function Manual, 12/2018, A5E40874029B AB

M1: Kinematic transformation

8.2 TRACYL cylinder surface transformation (option)

Where <t> = number of TRACYL transformations defined in the transformation data records

=

G

˭

*URRYH

H[DPSOH

<

Figure 8-13

Cylinder coordinate system

8.2.3

Programming

The cylinder surface transformation (TRACYL) is activated in the part program or synchronized

action using the TRACYL statement.

Syntax

TRACYL(<d>)

TRACYL(<d>,<n>)

TRACYL(<d>,<n>,<k>)

Meaning

TRACYL(<d>):

Activate TRACYL with the first TRACYL data set and working diameter

<d>

TRACYL (<d>,<n>):

Activate TRACYL with the <n>th TRACYL data set and working diameter

<d>

<d>:

Reference or working diameter

The value must be greater than 1.

<n>:

TRACYL data set number (optional)

Range of values:

1, 2

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

441

M1: Kinematic transformation

8.2 TRACYL cylinder surface transformation (option)

<k>:

The parameter <k> is only relevant for transformation type 514

k = 0:

without groove side correction

k = 1:

with groove side correction

If the parameter is not specified, then the parameterized basic position

applies:

$MC_TRACYL_DEFAULT_MODE_<n>

With <n> = TRACYL data set number

Note

A TRACYL transformation active in the channel is switched-off with:

● Deactivate transformation: TRAFOOF

● Activation of another transformation: E.g. TRAANG, TRANSMIT, TRAORI

Example

Program code

Comment

N40 TRACYL(40.)

; Activate TRACYL with the first TRACYL data set

and working diameter 40 mm.

Further information

Program structure

A part program for milling a groove with TRACYL transformation 513 (TRACYL with groove

side offset) generally comprises the following steps:

1. Select tool.

2. Select TRACYL.

3. Select suitable coordinate offset (frame).

4. Positioning.

5. Program OFFN.

6. Select TRC.

7. Approach block (position TRC and approach groove side).

8. Groove center line contour.

9. Deselect TRC.

10.Retraction block (retract TRC and move away from groove side).

11.Positioning.

12.TRAFOOF.

13.Reselect original coordinate shift (frame).

Extended Functions

442

Function Manual, 12/2018, A5E40874029B AB

M1: Kinematic transformation

8.2 TRACYL cylinder surface transformation (option)

Contour offset (OFFN)

In order to mill grooves using TRACYL transformation 513, the center line of the groove and

half of the groove width via the OFFN address are programmed in the part program.

To avoid damage to the groove side, OFFN acts only when the tool radius compensation is

active.

It is possible to change OFFN within a part program. This allows the groove center line to be

offset from the center:

2))1

3URJUDPPHG SDWK

Note

OFFN should be at least as large as the tool radius to avoid damage occurring to the opposite

side of the groove wall.

Note

OFFN acts differently with TRACYL than it does without TRACYL. Since, even without

TRACYL, OFFN is included when TRC is active, OFFN should be reset to zero after TRAFOOF.

NOTICE

Effect of OFFN depends on the transformation type

For TRACYL transformation 513 (TRACYL with groove side offset), half the groove width is

programmed for OFFN.

For TRACYL transformation 512 (TRACYL with groove side offset), the value of OFFN acts

as an allowance for the TRC.

Tool radius compensation (TRC)

For TRACYL transformation 513, the TRC is not taken into account relative to the groove side,

but to the programmed center of the groove. In order that the tool travels to the left of the

groove side, statement G42 must be programmed instead of G41 or the value of OFFN

specified with a negative sign.

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

443

M1: Kinematic transformation

8.2 TRACYL cylinder surface transformation (option)

Interrupt part program

● Mode change from AUTOMATIC to JOG

If a part program machining is interrupted for active transformation and traversed manually

in the JOG operating mode, ensure for continuation of the part program in the AUTOMATIC

operating mode that the transformation is already active in the restart block from the current

position to the interruption location.

WARNING

Risk of collision

No monitoring for collisions takes place.

The operator is responsible for ensuring that the tool can be re-positioned without any

difficulties.

● START after RESET

If a part program machining is interrupted with RESET and restarted with START, ensure

that at part program begin all axes travel with a linear block (G0 or G1) to a defined position,

and the remaining part program is traversed reproducably. A tool which was active on

RESET may no longer be taken into account by the control (settable via machine data).

Extended Functions

446

Function Manual, 12/2018, A5E40874029B AB

M1: Kinematic transformation

8.2 TRACYL cylinder surface transformation (option)

8.2.5

Examples

8.2.5.1

Machining grooves on a cylinder surface with X-Y-Z-C kinematics

The example refers to the turning machine with an additional Y axis drawn in the following

figure.

<0

&0

;0

=0

$60

XM

Infeed axis, perpendicular to rotary axis

YM

Additional axis

ZM

Axis is parallel to rotary axis

CM

Rotary axis

ASM Main spindle

Parameter assignment

Machine axis name

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 0 ] = "CM"

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 1 ] = "XM"

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 2 ] = "YM"

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 3 ] = "ZM"

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 4 ] = "ASM"

Geometry axis names

● MD20060 $MC_AXCONF_GEOAX_NAME_TAB[ 0 ] = "X" (name of the 1st geometry axis)

● MD20060 $MC_AXCONF_GEOAX_NAME_TAB[ 1 ] = "Y" (name of the 2nd geometry axis)

● MD20060 $MC_AXCONF_GEOAX_NAME_TAB[ 2 ] = "Z" (name of the 3rd geometry axis)

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

447

M1: Kinematic transformation

8.2 TRACYL cylinder surface transformation (option)

Programming

Producing a hook-shaped groove with groove side offset (TRACYL transformation type 513)

,QLWLDO VHWWLQJ

=

;

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+DOI

2))1

=

JURRYH

ZLGWK

1

1

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+DQGOLQJ RI WKH F\OLQGHU VXUIDFH

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Tool definition

Program code

Comment

; Tool parameters

$TC_DP1[1,1]=120

; Tool type: Milling tool

$TC_DP2[1,1] = 0

; Cutting edge position: For turning tools only

Program code

Comment

; Geometry: Length compensation

$TC_DP3[1,1]=8.

; Length compensation vector: Calculation acc. to

type

$TC_DP4[1,1]=9.

; Length compensation vector: Calculation accord-

ing to plane

$TC_DP5[1,1]=7.

Program code

Comment

; Geometry: Radius

$TC_DP6[1,1]=6.

; Radius

$TC_DP7[1,1]=0

; Groove width b for slotting saw, rounding radi-

us for milling tools

$TC_DP8[1,1]=0

; Projection k: For slotting saw only

$TC_DP9[1,1]=0

Extended Functions

450

Function Manual, 12/2018, A5E40874029B AB

M1: Kinematic transformation

8.2 TRACYL cylinder surface transformation (option)

Program code

Comment

$TC_DP10[1,1]=0

$TC_DP11[1,1]=0

; Angle for tapered milling tools

Program code

Comment

; Wear: Length and radius compensation

$TC_DP12[1,1] =0

; Remaining parameters to $TC_DP24=0 (basis di-

mension/adapter)

Groove machining on the cylinder surface

Program code

Comment

N10 T1 D1 G54 G90 F5000 G94

; Tool selection, clamping compensation

N20 SPOS=0

; Switchover of the spindle to rotary axis opera-

tion, positioning at 0 degrees

N30 G0 X25 Z110

; Approach the start position

N40 TRACYL(40.)

; Activating TRACYL with the first TRACYL data set

and working diameter 40 mm

N50 G19

; Machining plane Y/Z (cylinder surface)

N60 Y70

; Positioning over the groove center

N70 G1 X15

; Infeed tool to groove base

N80 OFFN=10

; Define 10 mm groove side spacing relative to

groove center line

N90 Z100 G42

; TRC selection and approach to right groove wall

; G42: TRC right of the progr. contour (≙ groove

center)

N100 Z50

; Path I: Producing the groove section parallel

with the cylinder axis

N110 Y10

; Path I: Producing the groove section parallel

with the circumference

N120 Y70

; Path II: Producing the groove section parallel

with the circumference

N130 Z100

; Path II: Producing the groove section parallel

with the cylinder axis

N140 Z110 G40

; Travel away from the groove wall and TRC dese-

lection

N150 G0 X25 Y0

; Return to the initial position

N170 TRAFOOF

; Deactivate transformation

N180 M30

; End of program

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

451

M1: Kinematic transformation

8.2 TRACYL cylinder surface transformation (option)

8.2.5.2

Machining grooves on a cylinder surface with X-Y-Z-A-C kinematics

The example refers to the 5-axis milling machine with an A- and a C-axis in the following figure.

630

=0

<0

;0

&0

$0

XM

1. axis of the machining plane

YM

2. axis of the machining plane

ZM

Infeed axis

AM

Rotary axis

CM

Rotary axis

SPM Main spindle

Parameter assignment

Machine axis name

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 0 ] = "XM"

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 1 ] = "YM"

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 2 ] = "ZM"

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 3 ] = "SPM"

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 4 ] = "AM"

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 5 ] = "CM"

Extended Functions

452

Function Manual, 12/2018, A5E40874029B AB

M1: Kinematic transformation

8.3 Oblique angle transformation (inclined axis) TRAANG (option)

Program code

Comment

N30 T="NUTFRAESER" M6 D1

; Tool selection

N40 G0 G54 X0 Y-20 Z105

; Positioning

N50 CYCLE800(0,"TABLE",100000,57,0,0,0,-90,0,0,0,0,0,-1,100,1)

; Rotate A-axis with swivel cycle

N60 G17 G90

; Setting the machining plane

N70 G0 Y-10 Z100 G40

; Positioning

N80 TRACYL(179, 2)

; Selecting the Tracyl data set

2 with groove wall offset

N90 OFFN=20

; Setting the offset (half

groove width)

N100 G1 F500 X0 Z75 G42

; Setting the starting point and

selecting the TRC

N110 Y30

; Groove center path

N120 X-60

; Groove center path

N130 X0

; Groove center path

N140 Y-10

; Groove center path

N150 Z105 G40

; Retraction and deselection of

the TRC

N160 TRAFOOF

; Deselection of the transforma-

tion

N170 G0 X0 Y-20 Z115

; Positioning retract movement

N180 M5

; Spindle stop

N190 CYCLE800(0,"TABLE",100000,57,0,0,0,0,0,0,0,0,0,-1,100,1)

; Turn back A axis

N200 M30

; End of program

8.3

Oblique angle transformation (inclined axis) TRAANG (option)

8.3.1

Function

Note

Option

For function "Oblique angle transformation (TRAANG) with programmable angle", option

"6FC5800-0AM28-0YB0" is necessary which requires a license.

For function "Oblique angle transformation (TRAANG) with fixed angle", option

"6FC5800-0AS54-0YB0" is necessary which requires a license.

The oblique angle transformation permits programming in the Cartesian workpiece coordinate

system (WCS) on machines with obliquely arranged machine axes, which is a typical axis

arrangement on grinding machines.

The controller transforms the programmed traversing movements of the Cartesian coordinate

system to the traversing movements of the real machine axes.

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

455

M1: Kinematic transformation

8.3 Oblique angle transformation (inclined axis) TRAANG (option)

80

˞

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;

&0

$60

=

=0

:RUNSLHFH

X

Geometry axis

Z

Geometry axis

ZM

Machine axis

UM

Machine axis

α

Angle of inclined axis

CM

Machine axis (spindle)

ASM Machine axis (tailstock)

Figure 8-14

Grinding with inclined infeed axis

Versions

● Oblique angle transformation (TRAANG) with programmable angle

For oblique angle transformation (TRAANG) with programmable angle, when activating the

transformation, the angle can be specified.

See Section "Activating an oblique angle transformation with programmable angle

(TRAANG) (Page 461)"

● Oblique angle transformation (TRAANG) with fixed angle

For oblique angle transformation (TRAANG) with fixed angle, when activating the

transformation, an angle cannot be specified.

See Section "Activate oblique angle transformation with fixed angle (TRAANG) (Page 462)"

Note

For active transformation, the names of the involved machine, channel and geometry axes are

different:

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB (machine axis name)

● MD20080 $MC_AXCONF_CHANAX_NAME_TAB (channel axis name)

● MD20060 $MC_AXCONF_GEOAX_NAME_TAB (geometry axis name)

Extended Functions

456

Function Manual, 12/2018, A5E40874029B AB

M1: Kinematic transformation

8.3 Oblique angle transformation (inclined axis) TRAANG (option)

8.3.2.2

Axis configuration

The following shows an axis configuration that is typical of TRAANG.

0'

0&B$;&21)B*(2$;B$66,*1B7$%

&KDQQHO

0'

&KDQQHO

0&B $;&21)B*(2$;B1$0(B7$%

&KDQQHO

&KDQQHO

VW JHRPHWU\ D[LV > @

;

0'

QG JHRPHWU\ D[LV > @

<

0&B75$)2B*(2$;B$66,*1B7$%

UG JHRPHWU\ D[LV > @

=

&KDQQHO

&KDQQHO

0'

0'

0&B $;&21)B&+$1$;B1$0(B7$%

0&B$;&21)B0$&+$;B86('

&KDQQHO

&KDQQHO

&KDQQHO

&KDQQHO

VW FKDQQHO D[LV > @

=&

QG FKDQQHO D[LV > @

&&

UG FKDQQHO D[LV > @

$6&

WK FKDQQHO D[LV > @

8&

0'

0'

0$B63,1'B$66,*1B72B0$&+$;

0$B$;&21)B0$&+$;B1$0(B7$%

VW PDFKLQH D[LV >$; @

&0

QG PDFKLQH D[LV >$; @

80

UG PDFKLQH D[LV >$; @

=0

WK PDFKLQH D[LV >$; @

$60

① Effective if TRAANG is active.

Machine axis name

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 0 ] = "CM"

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 1 ] = "UM"

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 2 ] = "ZM"

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 3 ] = "ASM"

Extended Functions

458

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M1: Kinematic transformation

8.3 Oblique angle transformation (inclined axis) TRAANG (option)

8.3.2.3

Specific settings

Angle between longitudinal axis and inclined axis

● MD24700 $MC_TRAANG_ANGLE_<n> = <angle>

with -90° < angle < 90° , without 0°

The angle is counted positively in the clockwise direction starting at X (see Section "Function

(Page 455)": Angle α).

Base offset of the tool zero

The base offset of the tool zero is specified for the valid geometry axes for the active

transformation. The base offset is included with and without selection of the tool length

compensation. Programmed tool length compensations are added to the base tool.

● $MC_TRAANG_BASE_TOOL_<n>[ k ] = <base offset>

with k = 0, 1, 2 (1st - 3rd geometry axis)

Note

The tool zero is not converted when the angle is changed.

Optimization of velocity control

The machine data used to optimize the velocity control in jog mode and in positioning and

oscillation modes:

Speed margin

The machine data sets the speed margin for the compensation movements of the longitudinal

axis:

MD24720 $MC_TRAANG_PARALLEL_VELO_RES_<n> = <value>

<value>

Meaning

0.0

The speed margin is determined by the NC depending on the angle of the inclined

axis and the speed capability of the inclined and the longitudinal axis so that the same

speed limitation results in the direction of the longitudinal axis and of the associated

perpendicular (virtual) axis.

> 0.0

Speed margin = <value> * (MD32000 $MA_MAX_AX_VELO of the longitudinal axis)

Acceleration margin

The machine data sets the acceleration margin for the compensation movements of the

longitudinal axis:

Extended Functions

460

Function Manual, 12/2018, A5E40874029B AB

M1: Kinematic transformation

8.3 Oblique angle transformation (inclined axis) TRAANG (option)

$MC_TRAANG_PARALLEL_ACCEL_RES_<n> = <value>

<value>

Meaning

0.0

The acceleration margin is determined by the NC depending on the angle of the

inclined axis and the acceleration capability of the inclined and the longitudinal axis

so that the same acceleration limitation results in the direction of the longitudinal axis

and of the associated perpendicular (virtual) axis.

> 0.0

Acceleration margin = <value> * (MD32300 $MA_MAX_AX_ACCEL of the longitudi-

nal axis)

M code for transformation change

The specified M code is output for switching the transformation:

● MD22534 $MC_TRAFO_CHANGE_M_CODE = <value>

WARNING

No M code is output.

The values 0 to 6, 17 and 30 are not output to the PLC.

8.3.3

Programming

8.3.3.1

Activating an oblique angle transformation with programmable angle (TRAANG)

The oblique angle transformation with programmable angle is activated in the part program or

synchronized action using the TRAANG statement.

Syntax

TRAANG

TRAANG()

TRAANG(, <n>)

TRAANG(<α>)

TRAANG(<α>,<n>)

Meaning

TRAANG:

Activate TRAANG with the first TRAANG data set and last valid angle

<α>

TRAANG():

TRAANG(, <n>):

Activate TRAANG with the <n>th TRAANG data set and last valid angle

<α>

TRAANG(<α>):

Activate TRAANG with the first TRAANG data set and angle <α>

TRAANG(<α>,<n>):

Activate TRAANG with the <n>th TRAANG data set and angle <α>

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

461

M1: Kinematic transformation

8.3 Oblique angle transformation (inclined axis) TRAANG (option)

<α>:

Angle of the inclined axis (optional)

Range of values:

-90° < α < + 90°

The initial state parameterized in the machine data is effective if an

angle is not specified:

MD2xxxx $MC_TRAANG_ANGLE_<n>

<n>:

TRAANG data set number (optional)

Range of values:

1, 2

Note

Oblique angle transformation TRAANG active in the channel is deactivated using:

● Deactivate transformation: TRAFOOF

● Activation of another transformation: E.g. TRACYL, TRANSMIT, TRAORI

Example

Program code

Comment

N20 TRAANG(45)

; Activate TRAANG with the first TRAANG data set and angle 45°

8.3.3.2

Activate oblique angle transformation with fixed angle (TRAANG)

The oblique angle transformation (TRAANG) with a fixed angle (TRAANG) is activated in the

part program or synchronized action using the TRAANG statement. When activated, it is not

permissible that an angle is specified. The angle parameterized in the machine data of the

particular TRAANG data set is active.

Syntax

TRAANG

TRAANG()

TRAANG(, <n>)

Meaning

TRAANG:

Activate TRAANG with the first TRAANG data set and angle <α> from

machine data MD24700 $MC_TRAANG_ANGLE_1

TRAANG():

TRAANG(, <n>):

Activate TRAANG with <n>th TRAANG data set and angle <α> from

machine data MD2xxxx $MC_TRAANG_ANGLE_<n>

<n>:

TRAANG data set number (optional)

Range of values:

1, 2

Extended Functions

462

Function Manual, 12/2018, A5E40874029B AB

M1: Kinematic transformation

8.3 Oblique angle transformation (inclined axis) TRAANG (option)

Note

Oblique angle transformation TRAANG active in the channel is deactivated using:

● Deactivate transformation: TRAFOOF

● Activation of another transformation: E.g. TRACYL, TRANSMIT, TRAORI

Example

Program code

Comment

N20 TRAANG(,2)

; Activate TRAANG with second TRAANG data set

; and angle from MD24750 $MC_TRAANG_ANGLE_2.

8.3.3.3

Oblique plunge-cutting on grinding machines (G5, G7)

The G commands G7 and G5 are used to simplify programming of oblique plunge-cutting on

grinding machines with "inclined axis (TRAANG)", so that when plunge cutting, only the inclined

axis is traversed.

Only the required end position of the plunge-cutting motion has to be programmed in X and

Z. For G7, starting from the actual position of the X axis, the NC calculates and approaches

the programmed end position and angle α of the inclined axis.

The starting position is calculated from the point where the two straight lines intersect:

● Straight line parallel to the Z axis, at a distance from the actual position of the X axis

● Straight line parallel to the inclined axis through the programmed end position

With the subsequent G5, the inclined axis is traversed to the programmed end position.

Syntax

G7 <Endpos_X> <Endpos_Z>

G5 <Endpos_X>

Meaning

G7:

Calculate the starting position for the oblique plunge-cutting and approach.

G5:

Traverse the inclined axis to the programmed end position

<Endpos_X>:

X axis end position

<Endpos_Z>:

End position of the Z axis

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

463

M1: Kinematic transformation

8.3 Oblique angle transformation (inclined axis) TRAANG (option)

Example

˞

80

*ULQGLQJ ZKHHO

;

1

&0

1

$60

=

=0

:RUNSLHFH

① Parallel to the Z axis, at a distance from the actual position of the X axis

② Parallel to the inclined axis through the programmed end position

③ Starting position

④ Plunge-cutting: Starting position

⑤ Plunge-cutting: End position

X

Geometry axis

Z

Geometry axis

ZM Machine axis

UM Machine axis

Program code

Comment

N... G18

; Select XZ plane.

N40 TRAANG (45.0)

; Activate TRAANG transformation, angle = 45°

N50 G7 X40 Z70 F4000

; Calculate the starting position and approach

N60 G5 X40 F100

; Traverse inclined axis to the end position.

N70 ...

8.3.4

Boundary conditions

The transformation can be selected and deselected via part program or MDA.

Selection and deselection

● An intermediate motion block is not inserted (phases/radii).

● A spline block sequence must be terminated.

● Tool radius compensation must be deselected.

● The current frame is deselected by the control system. Corresponds to programmed G500.

Extended Functions

464

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M1: Kinematic transformation

8.3 Oblique angle transformation (inclined axis) TRAANG (option)

After resynchronization of the preprocessing to the main run, e.g. after a change of operating

mode from JOG to AUTOMATIC mode, velocity monitoring and limitation takes place in the

preprocessing again.

Note

Program operation: Behavior with axis-specific feedrate stop

● Velocity monitoring in main run

Program execution is stopped with active velocity monitoring in the main run for one of the

axes involved in the transformation of the axis-specific feedrate stop at (DBX31, ... DBX4.3

== 1).

● Velocity monitoring in the preprocessing

The NC program execution continues with active velocity monitoring in the preprocessing

for one of the axes involved in the transformation of the axis-specific feedrate stop at

(DBX31, ... DBX4.3 == 1). The precondition for this is that no traversing motions are

programmed for the relevant axis.

8.3.5

Example

The example refers to the axis configuration shown in the following figure.

80

˞

*ULQGLQJ ZKHHO

;

&0

$60

=

=0

:RUNSLHFH

X

Geometry axis

Z

Geometry axis

ZM

Machine axis

UM

Machine axis

α

Angle of inclined axis

Parameter assignment

Machine axis name

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 0 ] = "CM"

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 1 ] = "UM"

Extended Functions

466

Function Manual, 12/2018, A5E40874029B AB

M1: Kinematic transformation

8.4 Chained transformations

Tool data

A tool is always assigned the first transformation of chained transformations. The subsequent

transformation then behaves as if the active tool length were zero.

Only the basic tool lengths set in the machine data (_BASE_TOOL_) are valid for the first

transformation in the chain.

8.4.1.2

System variables

The following transformation-specific system variables are available:

System variable

Meaning

$AA_ITR

Current setpoint value at output of the nth transformation

$AA_IBC

Current setpoint value of a cartesian axis

$VA_ITR

Current actual value at output of the nth transformation

$VA_IBC

Current cartesian BCS encoder position of an axis

$VA_IW

Current WCS actual value of an axis

$VA_IB

Current BCS encoder position of an axis

Boundary conditions

● Warm restart

The encoder position has the value 0 for non-referenced axes. For the $VA variables, the

encoder actual values are appropriately inverse-transformed.

● Channel reset

The active transformation can change after a channel reset. This can have a direct influence

on the system variable values.

An active transformation, which is active again after a channel reset, is briefly deactivated

and then reactivated. This influences the position variables. The values of variables can

change.

Via the variable:

$AC_STAT == 0

this status can be queried in synchronous actions.

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

471

M1: Kinematic transformation

8.4 Chained transformations

$AA_ITR: Actual setpoint value at output of the nth transformation

System variable $AA_ITR[ <axis>, <transformation layer> ] determines the setpoint position

of an axis at the output of the n th cascaded transformation.

\

\

\

\

\

[

[

[

[

[

%&6

7UDQVI

7UDQVI

0&6

7UDQVI

7UDQVI

Figure 8-15

Transformer layer

Axis

As 1st index of the system variable, either a geometry, a channel or a machine axis name is

permissible. When programming geometry axis names, in each transformer layer, the

assignment of the channel axes to the geometry axes corresponding to transform layer 0 is

effective. This means that the geometry axis assignment on the BCS side is active in all planes.

Using geometry axis names is meaningful only if the geometry axes are not switched over.

Otherwise, it is always better to use channel axis names.

Transformer layer

The 2nd index of the system variable corresponds to the transformation layer from which the

positions are taken:

● Transformer layer 0: The positions correspond to BCS positions, $AA_ITR[x,0] == $AA_IB[x]

● Transformer layer 1: Setpoint positions at the output of the 1st transformation

● Transformer layer 2: Setpoint positions at the output of the 2nd transformation

● Transformer layer 3: Setpoint positions at the output of the 3rd transformation

● Transformer layer 4: Setpoint positions at the output of the 4th transformation, $AA_ITR[x,

4] == $AA_IM[x]

If one or more transformations of the transformation chain are missing, the highest layers

continue to deliver the same values. If, for example, transformation 3 and transformation 4 are

missing, then the following applies:

$AA_ITR[x,2] = $AA_ITR[x,3] = $AA_ITR[x,4] = $AA_IM[x]

If the transformations are deactivated using TRAFOOF - or for a channel reset - then layers 0

to 4 merge. The system variable then supplies the BCS value (layer 0).

Extended Functions

472

Function Manual, 12/2018, A5E40874029B AB

M1: Kinematic transformation

8.4 Chained transformations

8.4.2

Programming

A configured concatenated (chained) transformation is activated in the part program or

synchronized action using the TRACON statement.

Syntax

TRACON(<Trafo_No>,<Par_1>,...,<Par_n>,<Par_n+1>)

TRAFOOF

Meaning

TRACON:

Activate concatenated transformation

If another transformation was previously activated, it is implicitly dis-

abled by means of TRACON().

<Trafo_No>:

Number of the concatenated transformation:

Type:

INT

Range of val-

0 ... 2

ues:

Value:

0, 1

First/only concatenated transformation

2

Second concatenated transformation

Not

Same meaning as with 0 or 1

speci-

fied

Note:

Values not equal to 0, 1, 2 generate an error

alarm.

<Par_1>, ..., <Par_n>,

Parameters for the concatenated transformations

<Par_n+1>:

<Par_1>, ..., <Par_n>

Parameters of the first transforma-

tion in the chain

The actual number depends on

the transformation type:

● TRAORI: 2 parameters

● TRACYL: 1 to 2 parameters

<Par_n+1>

Parameters of the second transfor-

mation in the chain (TRAANG)

≙ angle of the inclined axis

If parameters are not set, the defaults or the parameters last used

take effect. Commas must be used to ensure that the specified pa-

rameters are evaluated in the sequence in which they are expected,

if default settings are to be effective for previous parameters. In

particular, a comma is required before at least one parameter, even

though it is not necessary to specify <Trafo_No> - for example TRA-

CON( , 3.7).

TRAFOOF:

Deactivate the last activated (concatenated) transformation

Extended Functions

474

Function Manual, 12/2018, A5E40874029B AB

M1: Kinematic transformation

8.4 Chained transformations

Example

Program code

Comment

N230 TRACON(1,45.)

; Activate first concatenated transformation.

; The previously active transformation is automatically de-

selected.

; The angle for the inclined axis is 45°.

N330 TRACON(2,40.)

; Activate second concatenated transformation.

; The angle for the inclined axis is 40°.

N380 TRAFOOF

; Deactivate second concatenated transformation.

8.4.3

Examples

8.4.3.1

Application example of chained transformations

The following transformations are to be defined in the channel:

Data set

Transformation

1

TRAORI

5-axis transformation with rotatable tool and axis sequence AB (trafo type 16)

2

TRANSMIT

Face end transformation (trafo type 256)

3

TRAANG

Oblique angle transformation (trafo type 1024)

4

TRAORI + TRAANG

First chained transformation (trafo type 8192)

5

TRANSMIT + TRAANG

Second chained transformation (trafo type 8192)

Parameter assignment

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

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

475

M1: Kinematic transformation

8.4 Chained transformations

8.4.3.2

Determining the 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.

[

;0

\

75$160,7

75$$1*

<0

]

=0

\

&

[

\

75$&</

75$$1*

]

\

Parameter assignment

CHANDATA(1)

; TRANSMIT

MD24100 $MC_TRAFO_TYPE_1=256

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

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

Extended Functions

Function Manual, 12/2018, A5E40874029B AB

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