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SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 62

F2: Multi-axis transformations

2.5 Cardan milling head

Tool orientation

Tool orientation at zero position can be specified as follows:

● parallel to the first rotary axis or

● perpendicular to it, and in the plane of the specified axis sequence

Types of kinematics

The axis sequence of the rotary axes and the orientation direction of the tool at zero position

are set for the different types of kinematics using the following machine data:

$MC_TRAFO_TYPE_1 ... $MC_TRAFO_TYPE_10

Axis designation scheme

As for the other 5-axis transformations, the following applies:

the rotary axis

...A is parallel to X: A' is below the angle φ to the X axis

...B is parallel to Y: B' is below angle φ to the Y axis

...C is parallel to Z: C' is below angle φ to the Z axis

Angle definition

&

$

ϕ

=

$

;

<

Figure 2-20

Position of axis A'

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F2: Multi-axis transformations

2.5 Cardan milling head

Axis A' is positioned in the plane spanned by the rectangular axes of the designated axis

sequence. If, for example, the axis sequence is CA', then axis A' is positioned in plane Z-X.

The angle φ then is the angle between axis A' and the X axis.

2.5.2

Parameterization

Setting the type of transformation

The transformation type is set with the machine data of the corresponding transformation data

block:

MD24100, ... MD25190 $MC_TRAFO_TYP_n, with n = 1, 2, 3, ...

Bit

<value>

Description

7

1

Activation of the transformation for cardan milling head

6 - 5

Moving component

00

Movable tool

01

Movingworkpiece

10

movable tool and workpiece

4 - 3

Direction of orientation of tool in position zero

00

X direction

01

Y direction

10

Z direction

2 - 0

Axis sequence

000

AB' or A'B

001

AC' or A'C

010

BA' or B'A

011

BC' or B'C

100

CA' or C'A

101

CB' or C'B

The following transformation types can be set:

Axis se-

Moving component: Bits 6 - 5

quence:

Tool

Workpiece

Tool/workpiece

Bits 0 - 2

00

01

10

Zero position ¹⁾

Zero position ¹⁾

Zero position ¹⁾

X

Y

Z

X

Y

Z

X

Y

Z

00

01

10

00

01

10

00

01

10

AB' / A'B

x

x

-

-

-

-

-

-

-

000

AC' / A'C

x

-

x

-

-

-

-

-

-

001

BA' / B'A

x

x

-

-

-

-

x

x

010

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F2: Multi-axis transformations

2.5 Cardan milling head

Axis se-

Moving component: Bits 6 - 5

quence:

Tool

Workpiece

Tool/workpiece

Bits 0 - 2

00

01

10

Zero position ¹⁾

Zero position ¹⁾

Zero position ¹⁾

X

Y

Z

X

Y

Z

X

Y

Z

00

01

10

00

01

10

00

01

10

BC' / B'C

-

x

x

-

x

x

-

-

-

011

CA' / C'A

x

-

x

-

-

-

-

-

-

100

CB' / C'B

-

x

x

-

-

-

-

-

-

101

1) Orientation of the tool in the zero position: Bits 3 - 4

x: Transformation type can be set

-: Transformation type cannot be set

Active machining plane

The tool orientation at the zero position can be set not only in the Z direction. For this reason,

ensure that the active working plane is set so that the tool length compensation acts in the tool

orientation direction.

The active machining plane should always be the plane according to which the tool orientation

is set in position zero.

Other settings

The geometry information used by the cardan milling head transformation for calculation of

the axis values is set in the same way as that of the other 5-axis transformations.

2.5.3

Traverse of the cardan milling head in JOG mode

JOG

In JOG mode, the linear axes can be traversed normally. It is, however, difficult to set the

orientation correctly by traversing these axes.

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F2: Multi-axis transformations

2.6 Programming of the 3- to 5-axis transformation

2.6

Programming of the 3- to 5-axis transformation

Switch on

The 3- to 5-axis transformations, including the transformations with swiveled linear axis and

cardan milling head, are enabled with the TRAORI(<transformation-no.>) command.

The enable of the transformation sets the NC/PLC interface signal:

DB21, ... DBX33.6 = 1 (transformation active)

Deactivation

With the TRAFOOF command disables the currently active 3- to 5-axis transformation. The

disable of the transformation resets the NC/PLC interface signal:

DB21, ... DBX33.6 = 0 (transformation inactive)

Switch-over

If a transformation is already active in the channel, the TRAORI(<transformation-no.>)

with a new transformation number command can be used to switch to another transformation.

Reset / program end

The control behavior after startup, program end or NC reset is set in the machine data:

MD20110 $MC_RESET_MODE_MASK, bit 7 = <value>

<value>

Meaning

0

Initial setting for active transformation after reset / program end according to $MC_TRA-

FO_RESET_VALUE

1

The active transformation remains active over reset / program end

Option

The "5-axis transformation" function, together with its special forms, is an option.

References

A detailed description of the machine data can be found in:

Parameter Manual, Detailed Machine Data Description

Special functions

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F2: Multi-axis transformations

2.7 Generic 5-axis transformation and variants

2.7.2

Description of machine kinematics

Machine types

Like the existing 5-axis transformations, there are three different variants of generic 5-axis

transformation:

1. Machine type: Rotatable tool

Both rotary axes change the orientation of the workpiece. The orientation of the workpiece

is fixed.

2. Machine type: Rotatable workpiece

Both rotary axes change the orientation of the workpiece. The orientation of the tool is fixed.

3. Machine type: Rotatable tool and rotatable workpiece - one rotary axis changes the tool

orientation and the other the workpiece orientation.

Configurations

As previously, the machine configurations are defined in the following machine data (see

Section "Configuration of a machine for 5-axis transformation (Page 45)"):

$MC_TRAFO_TYPE_1, ..., _8

Additional types have been introduced for generic 5-axis transformation:

Table 2-1

Overview of machine types for the generic 5-axis transformation

Machine type

1

2

3

Swivel/rotatable:

tool

workpiece

Tool/workpiece

Transformation types

24

40

56

Rotary axis direction

The direction of the rotary axis is defined by the following machine data:

$MC_TRAFO5_AXIS1_n (1st rotary axis) and

$MC_TRAFO5_AXIS2_n (2nd rotary axis)

where n is 1 or 2 for the first or second 5-axis transformation in the system respectively. The

machine data specified above are fields with three values, which describe that axis direction

vectorially (similar to the description of rotary axes for orientable toolholder). The absolute

value of the vectors is insignificant; only the defined direction is relevant.

Example:

1. A-axis is the rotary axis (parallel to the x direction):

MD24570 $MC_TRAFO5_AXIS1_1[0] = 1.0 (direction first rotary axis)

MD24570 $MC_TRAFO5_AXIS1_1[1] = 0.0

MD24570 $MC_TRAFO5_AXIS1_1[2] = 0.0

2. B-axis is the rotary axis (parallel to the y direction):

Special functions

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F2: Multi-axis transformations

2.7 Generic 5-axis transformation and variants

2.7.4

Parameterization of orientable toolholder data

Application

Machine types for which the table or tool can be rotated, can either be operated as true 5-axis

machines or as conventional machines with orientable toolholders. In both cases, machine

kinematics is determined by the same data, which, due to different parameters, previously had

to be entered twice - for toolholder via system variables and for transformations via machine

data. The new transformation type 72 can be used to specify that these two machine types

access identical data.

Transformation type 72

The following machine data can be used to define a generic 5-axis transformation for

transformation type 72 with kinematic data read from the data for an orientable toolholder.

MD24100 $MC_TRAFO_TYPE_1 (definition of transformation 1 in the channel) or

MD24200 $MC_TRAFO_TYPE_2 (definition of transformation 2 in the channel)

From this number data is made available via machine data MD24582

$MC_TRAFO5_TCARR_NO_1 (TCARR-Number for the first 5-axis transformation) for the first

or MD24682 $MC_TRAFO5_TCARR_NO_2 (TCARR-Number for the second 5-axis

transformation) for the second orientation transformation. The corresponding transformation

type can then be derived from the content of kinematic type with parameter $TC_CARR23 -

see following table.

Table 2-2

Machine types for generic 5-axis transformation

Machine type

1

2

3

4

Swivel/

tool

workpiece

Tool/workpiece

Type 3 or orienta-

rotatable:

ble toolholder

Kinematic type:

T

P

M

T, P, M

Transformation

24

40

56

72 from content of

type:

$TC_CARR23

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F2: Multi-axis transformations

2.7 Generic 5-axis transformation and variants

Note

The transformation only takes place if the orientable toolholder concerned is available and the

value of $TC_CARR23 contains a valid entry for type M, P or T kinematics in lower or upper

case.

Transformation machine data for the first orientation transformation listed in the tables below

are equally valid for the second orientation transformation. All other machine data that may

affect the transformation characteristics and do not appear in the tables below, remain valid

and effective:

MD24110/MD24210 $MC_TRAFO_AXES_IN_1/2 (axis assignment for transformation) or

MD24574/MD24674 $MC_TRAFO5_BASE_ORIENT_1/2 (basic tool orientation)

If in the tables below a second additive parameter appears in brackets for the parameters of

the orientable toolholder (e.g. $TC_CARR24 (+ $TC_TCARR64)), the sum of both values will

only be effective if the fine offset specified in setting data is active when the data is transferred

from the orientable toolholder.

SD42974 $SC_TOCARR_FINE_CORRECTION = TRUE (fine offset TCARR on/off)

Activation

The most significant parameter values of an orientable toolholder for a transformation can be

activated in the part program with NEWCONF. Alternatively, the machine data concerned for

transformation type 72 can be activated via the HMI user interface.

Assignment for all types of transformation

The assignments between the toolholder data for writing the linear offsets and the

corresponding machine data for kinematic transformations are determined by the

transformation type. The following assignment of all other parameters is identical for all three

possible types of transformation:

Assignment for all types of transformation together identical

MD24100 $MC_TRAFO_TYPE_1 (definition of transfor-

24

$TC_CARR23 =

T

mation 1 in the channel)

40

P

56

M

MD24570 $MC_TRAFO5_AXIS1_1[0] (direction 1st rotary axis)

$TC_CARR7

MD24570 $MC_TRAFO5_AXIS1_1[1]

$TC_CARR8

MD24570 $MC_TRAFO5_AXIS1_1[2]

$TC_CARR9

MD24572 $MC_TRAFO5_AXIS2_1[0] (direction 2nd rotary axis)

$TC_CARR10

MD24572 $MC_TRAFO5_AXIS2_1[1]

$TC_CARR11

MD24572 $MC_TRAFO5_AXIS2_1[2]

$TC_CARR12

MD24510 $MC_TRAFO5_ROT_AX_OFFSET_1[0] (position offset

$TC_CARR24 (+

of rotary axes 1/2/3 for 5-axis transformation) 1)

$TC_TCARR64)

MD24510 $MC_TRAFO5_ROT_AX_OFFSET_1[1]

$TC_CARR25 (+

$TC_TCARR65)

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2.7 Generic 5-axis transformation and variants

Assignment for all types of transformation together identical

MD24520 $MC_TRAFO5_ROT_SIGN_IS_PLUS_1[0] (sign of rotary

TRUE*

axis 1/2/3 for 5-axis transformation 1)

MD24520 $MC_TRAFO5_ROT_SIGN_IS_PLUS_1[1]

TRUE*

*) Machine data MD24520/MD24620 $MC_TRAFO5_ROT_SIGN_IS_PLUS_1/2 are

redundant. They are used to invert the direction of rotation of the assigned rotary axis.

However, this can also be achieved by inverting the direction of axis vector

$MC_TRAFO5_AXIS1/2_1/2. It is for this reason that there is no corresponding parameter for

the orientable toolholder. For the purpose of absolute clarity, the following machine data must

be ignored:

MD24520/MD24620 TRAFO5_ROT_SIGN_IS_PLUS_1/2

Assignments for transformation type 24

Toolholder data assignments dependent on transformation type 24

Transformation type "T" (in accordance with MD24100 $MC_TRAFO_TYPE_1 = 24)

MD24500 $MC_TRAFO5_PART_OFFSET_1[0]

$TC_CARR1 (+$TC_TCARR41)

(translation vector of 5-axis transformation 1)

MD24500 $MC_TRAFO5_PART_OFFSET_1[1]

$TC_CARR2 (+$TC_TCARR42)

MD24500 $MC_TRAFO5_PART_OFFSET_1[2]

$TC_CARR3 (+$TC_TCARR43)

MD24560 $MC_TRAFO5_JOINT_OFFSET_1[0] (vec-

$TC_CARR4 (+$TC_TCARR44)

tor of the kinematic offset of 5-axis transformation 1)

MD24560 $MC_TRAFO5_JOINT_OFFSET_1[1]

$TC_CARR5 (+$TC_TCARR45)

MD24560 $MC_TRAFO5_JOINT_OFFSET_1[2]

$TC_CARR6 (+$TC_TCARR46)

MD24550 $MC_TRAFO5_BASE_TOOL_1[0] (vector

$TC_CARR15 (+$TC_TCARR55)

of basic tool when 5-axis transformation is active) 1)

MD24550 $MC_TRAFO5_BASE_TOOL_1[1]

$TC_CARR16 (+$TC_TCARR56)

MD24550 $MC TRAFO5_BASE_TOOL_1[2]

$TC_CARR17 (+$TC_TCARR57)

Assignments for transformation type 40

Toolholder data assignments dependent on transformation type 40

Transformation type "P" (in accordance with MD24100 $MC_TRAFO_TYPE_1 = 40)

MD24550 $MC_TRAFO5_BASE_TOOL_1[0]

$TC_CARR4 (+$TC_TCARR44)

MD24550 $MC_TRAFO5_BASE_TOOL_1[1]

$TC_CARR5 (+$TC_TCARR45)

MD24550 $MC_TRAFO5_BASE_TOOL_1[2]

$TC_CARR6 (+$TC_TCARR46)

MD24560 $MC_TRAFO5_JOINT_OFFSET_1[0]

$TC_CARR15 (+$TC_TCARR55)

MD24560 $MC_TRAFO5_JOINT_OFFSET_1[1]

$TC_CARR16 (+$TC_TCARR56)

MD24560 $MC_TRAFO5_JOINT_OFFSET_1[2]

$TC_CARR17 (+$TC_TCARR57)

MD24500 $MC_TRAFO5_PART_OFFSET_1[0]

$TC_CARR18 (+$TC_TCARR58)

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F2: Multi-axis transformations

2.7 Generic 5-axis transformation and variants

Transformation type "P" (in accordance with MD24100 $MC_TRAFO_TYPE_1 = 40)

MD24500 $MC_TRAFO5_PART_OFFSET_1[1]

$TC_CARR19 (+$TC_TCARR59)

MD24500 $MC_TRAFO5_PART_OFFSET_1[2]

$TC_CARR20 (+$TC_TCARR60)

Assignments for transformation type 56

Toolholder data assignments dependent on transformation type 56

Transformation type "M" (in accordance with MD24100 $MC_TRAFO_TYPE_1 = 56)

MD24560 $MC_TRAFO5_JOINT_OFFSET_1[0] (vector

$TC_CARR1 (+$TC_TCARR41)

of the kinematic offset of 5-axis transformation 1)

MD24560 $MC_TRAFO5_JOINT_OFFSET_1[1]

$TC_CARR2 (+$TC_TCARR42)

MD24560: TRAFO5_JOINT_OFFSET_1[2]

$TC_CARR3 (+$TC_TCARR43)

MD24550 $MC_TRAFO5_BASE_TOOL_1[0]

$TC_CARR4 (+$TC_TCARR44)

MD24550 $MC_TRAFO5_BASE_TOOL_1[1]

$TC_CARR5 (+$TC_TCARR45)

MD24550 $MC_TRAFO5_BASE_TOOL_1[2]

$TC_CARR6 (+$TC_TCARR46)

MD24558 $MC_TRAFO5_JOINT_OFFSET_PART_1[0]

$TC_CARR15 (+$TC_TCARR55)

MD24558 $MC_TRAFO5_JOINT_OFFSET_PART_1[1]

$TC_CARR16 (+$TC_TCARR56)

MD24558 $MC_TRAFO5_JOINT_OFFSET_PART_1[2]

$TC_CARR17 (+$TC_TCARR57)

MD24500 $MC_TRAFO5_PART_OFFSET_1[0]

$TC_CARR18 (+$TC_TCARR58)

MD24500 $MC_TRAFO5_PART_OFFSET_1[1]

$TC_CARR19 (+$TC_TCARR59)

MD24500 $MC_TRAFO5_PART_OFFSET_1[2]

$TC_CARR20 (+$TC_TCARR60)

Example of parameterization

The first 5-axis transformation is to obtain its data from machine data and the second, in

contrast, is to be parameterized using the data from the 3rd orientable toolholder.

MD24100 $MC_TRAFO_TYPE_1 = 24

; first 5-axis transformation

MD24200 $MC_TRAFO_TYPE_2 = 72

; second 5-axis transformation

MD24682 $MC_TRAFO5_TCARR_NO_2 =

; parameterize data of the third orientable

3;

; toolholder

2.7.5

Extension of the generic transformation to six axes - 840D sl only

6-axis transformation is an extension of the generic 5-axis transformation to include an

additional rotary axis. This allows rotation of the tool around itself to be defined.

In addition to the machine data for 5-axis transformation, to parameterize 6-axis

transformation, additional settings must be made in the subsequently listed machine data.

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F2: Multi-axis transformations

2.7 Generic 5-axis transformation and variants

Parameter assignment: Transformation type

The transformation type is set on a channel-for-channel basis using:

$MC_TRAFO_TYPE_<x> = <transformation type>

The transformation type to be set is obtained from the machine type and/or the allocation of

the three rotary axes regarding tool and workpiece orientation:

<Transformation type>

24 ¹⁾

40 ¹⁾

56 ²⁾

57 ³⁾

Machine type

1

2

3

4

Toolorientation

3 rotary axes

---

2 rotary axes

1 rotary axis

Workpieceorientation

---

3 rotary axes

1 rotary axis

2 rotary axes

1)

The first rotary axis of the transformation is the rotary axis that in the kinematic chain is located next

for the workpiece.

The third rotary axis of the transformation is the rotary axis that in the kinematic chain is located next

for the tool.

When the second rotary axis traverses, then the third rotary axis is also moved.

2)

The second rotary axis of the transformation is the rotary axis that in the kinematic chain is located

next for the workpiece.

The third rotary axis of the transformation is the rotary axis that in the kinematic chain is located next

for the tool.

When the first rotary axis traverses, then the third rotary axis is also moved.

3)

The first rotary axis of the transformation is the rotary axis that in the kinematic chain is located next

for the tool.

The third rotary axis of the transformation is the rotary axis that in the kinematic chain is located next

for the workpiece.

When the second rotary axis traverses, then the third rotary axis is also moved.

Note

Using transformation types 24, 40, 56 and 57, only those kinematics are formed, where the

three linear axes of the transformation form a right-handed Cartesian coordinate system - and,

there is no rotary axis between the linear axes in the kinematic chain.

Parameter assignment: Offset vectors for transformation type 57

For transformation type 57, the same as for rotary axes, the offset vectors are to be specified

starting from the tool to the workpiece zero:

Offset

Machine data

Tool tip → rotary axis 1

$MC_TRAFO5_BASE_TOOL_<x>[ 0 ... 2 ]

Rotary axis 1 → rotary axis 2

$MC_TRAFO5_JOINT_OFFSET_<x>[ 0 ... 2 ]

Rotary axis 2 → rotary axis 3

$MC_TRAFO6_JOINT_OFFSET_2_3_<x>[ 0 ... 2 ]

Rotary axis 3 → workpiece zero

$MC_TRAFO5_PART_OFFSET_<x>[ 0 ... 2 ]

Parameter assignment: Channel axis number of the 3rd rotary axis

The channel axis number of the third rotary axis is set in:

$MC_TRAFO_AXES_IN_<x>[ 5 ] = <channel axis number of the third rotary axis>

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F2: Multi-axis transformations

2.7 Generic 5-axis transformation and variants

Orientation normal vector

Vector components (x,y,z) of the orientation normal vector of a tool can be defined in the tool

data using $TC_DPVN3 - $TC_DPVN5. The significance of the vector components is

analogous to the vector components of the orientation vector:

● $TC_DPVN3: Component in the direction of the tool length L1,

● $TC_DPVN4: Component in the direction of the tool length L2

● $TC_DPVN5: Component in the direction of the tool length L3.

The following settings must be made so that the tool data for the orientation normal vector can

be used:

MD18114 $MN_MM_ENABLE_TOOL_ORIENT = 3 (assign tool cutting edges orientation)

The coordinate system is not rotated by rotating the tool with AN3, BN3, CN3 or THETA.

Default setting of the orientation normal vector

The initial state of the orientation normal vector is defined when activating the transformation

in one of the following ways:

1. For a TRAORI function call, vector components (x,y,z) are transferred as parameters 8 -

10:

TRAORI(p1, p2, p3, p4, p5, p6, p7, p8, p9, p10)

2. If, when calling the TRAORI function, no orientation normal vector is specified, and one

tool is active, then vector components (x,y,z) are taken from the tool data:

$TC_DPVN3, $TC_DPVN4, $TC_DPVN5

3. If, when calling the TRAORI function, no orientation normal vector is specified, and no tool

is active, then vector components (x,y,z) are taken from the following machine data:

MD24567 $MC_TRAFO6_BASE_ORIENT_NORMAL_<x>[ 0 ... 2 ] (tool normal vector)

The position of the orientation coordinate system of a standard tool depends on the active

plane (G17, G18, G19) corresponding to the following table:

G17

G18

G19

Direction of the orientation vector

Z

Y

X

Direction of the orientation normal vector

Y

X

Z

See also

Example of a generic 6-axis transformation (Page 141)

2.7.6

Extension of the generic transformation to 7 axes - 840D sl only

Application

The generic 5-/6-axis transformation with transformation type 24 is extended by a 7th or

6th axis, which rotates the workpiece. The work space of the transformation can be expanded

in this way.

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F2: Multi-axis transformations

2.7 Generic 5-axis transformation and variants

Description of the kinematics

The 7-axis transformation builds on the generic 5-/6-axis transformation.

Note

The 7-axis transformation also covers kinematics in which the 6th axis is not available. In the

following, we speak exclusively about a 7th axis or about a 7-axis transformation, even when

it is actually the 6th axis in connection with a 5-axis kinematics.

The 7-axis transformation types only cover those kinematics in which the three linear axes

form a rectangular Cartesian coordinate system, i.e. no kinematics are covered in which at

least one rotary axis lies between two linear axes in the kinematic chain.

There is only one machine kinematics for which a 7th axis can be configured. It is designated

by the Transformation Type 24:

$MC_TRAFO_TYPE_1 = 24 Rotary tool: Three (or two) axes rotate the tool; the 7th axis rotates

the workpiece.

The extensions of the following machine data are required to configure a generic 7-axis

transformation:

Machine data

extension

$MC_TRAFO_AXES_IN_1[9]

The channel axis index of the 4th rotary axis is recor-

ded here.

$MC_TRAFO_AXES_IN_1[10] and $MC_TRA-

This machine data is to be assigned with default val-

FO_AXES_IN_1[11]

ue of 0. (default setting)

$MC_TRAFO_AXES_IN_1[6..8]

This machine data is not evaluated by the generic 7-

axis transformation.

$MC_TRAFO7_EXT_AXIS1_1[0..2]

The direction of the 4th rotary axis is specified here.

$MC_TRAFO7_EXT_AX_OFFSET_1[0..2]

A position offset of the 4th rotary axis is entered

here.

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F2: Multi-axis transformations

2.7 Generic 5-axis transformation and variants

MR

$

&

MR

&

PR

WR

W

;

(

7RRO UHODWHG

SR

]HUR SRLQW

0DFKLQH ]HUR

mo:

Position vector in MCS

po:

$MC_TRAFO5_PART_OFFSET_n[0..2]

x.

Vector of programmed position in the WCS

t:

Tool correction vector

to:

$MC_TRAFO5_BASE_TOOL_n[0..2]

jo:

$MC_TRAFO5_JOINT_OFFSET_n[0..2]

jo23:

$MC_TRAFO6_JOINT_OFFSET_2_3_n[0..2]

Figure 2-21

Schematic diagram of 7-axis kinematics

Programming

1. Programming the Cartesian position

The position of the 7th axis must be programmed in the workpiece coordination system in

addition to the Cartesian position. The Cartesian position is thus programmed in relation

to the constant workpiece. The 7-axis transformation converts the WCS position via the

rotation of the 7th axis in the basic coordinate system. Possibly programmed or set frames

are normally settled before the 7-axis transformation.

2. Programming of orientation

All programming options of the generic 5/6-axis transformation are available while

programming the orientation. The 7th axis must always be programmed additionally.

Two different response types can be set in this context via the G command.

- The position of the 7th axis does not influence the programmed orientation.

- The programmed end orientation is rotated with the 7th axis.

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2.7 Generic 5-axis transformation and variants

2.7.7

Cartesian manual travel with generic transformation

Note

Option

The "Handling transformation package" option is necessary for the function.

Functionality

With function "Cartesian manual travel", the following Cartesian coordinate system can be set

for traversing geometry and orientation axis in the JOG mode:

● Basic coordinate system (BCS)

● Workpiece coordinate system (WCS)

● Tool coordinate system (TCS)

Traversing motion of linear and rotary axes is realized via the NC/PLC interface signals of the

geometry and/or orientation axes.

Note

For further information about the representation of the translations for the Cartesian manual

travel in the corresponding coordinate systems, see:

Reference:

Function Manual Extension Functions; Kinematic Transformation (M1)

Parameter assignment: Machine data

Coordinate systems

The following machine data not only activates the function, but also sets the permitted

coordinate systems, which can be toggled between.

MD21106 $MC_CART_JOG_SYSTEM, bit n = <value>

Bit n

Value

Meaning

0

1

Function active: Basic coordinate system (BCS)

1

1

Function active: Workpiece coordinate system (WCS)

2

1

Function active: Tool coordinate system (TCS)

Parameter assignment: Setting data

Defining the virtual kinematics for the orientation axes

The active virtual kinematics for manually traversing the orientation axes is defined using the

following setting data. Here, only kinematics can be set, where the rotary axes are

perpendicular to one another.

Special functions

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F2: Multi-axis transformations

2.8 Restrictions for kinematics and interpolation

SD42660 $SC_ORI_JOG_MODE = <value>

Value

Meaning

0

The virtual kinematics are defined using transformation

1

Rotation with Euler angles: Rotation sequence, ZX'Z'' convention:

2

Rotation with Euler angles: XY'Z'' convention (RPY angle)

3

Rotation with Euler angles: Rotation sequence ZY'X'' convention (RPY angles)

4

Defining the rotation sequence using: MD21120 $MC_ORIAX_TURN_TAB_1

5

Defining the rotation sequence using: MD21130 $MC_ORIAX_TURN_TAB_2

For further explanations regarding orientation motion (see Chapter "Orientation (Page 88)"

and "Orientation axes (Page 108)").

Note

For further information about the programming of rotations please refer to:

References:

Programming Manual, Job Planning; Chapter: "Transformations"

2.8

Restrictions for kinematics and interpolation

For systems where there are less than six axes available for transformation, the following

restrictions must be taken into account.

5-axis kinematics

For 5-axis kinematics there are two degrees of freedom for orientation. The assignment of

orientation axes and tool vector direction must be selected so that there is no rotation around

the tool vector. As a result, only two orientation angles are required to describe the orientation.

If the axis is traversed using ORIVECT, the tool vector performs pure swiveling motion.

3-and 4-axis kinematics

For 3- and 4-axis kinematics, only one degree of freedom is available for orientation. The

respective transformation determines the relevant orientation angle. In this case, it only makes

sense to traverse the orientation axis using ORIAXES. In this case, the orientation axis is

directly and linearly interpolated.

Interpolation of the tool orientation over several blocks by means of orientation vectors

If the orientation of a tool is programmed over several consecutive part program blocks by

directly entering the appropriate rotary axis positions, then undesirable discontinuous changes

of the orientation vector are obtained at the block transitions. This results in discontinuous

velocity and acceleration changes of the rotary axes. This means that no continuous velocity

and acceleration of the orientation axes over several blocks can be achieved using large circle

interpolation.

Special functions

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85

F2: Multi-axis transformations

2.8 Restrictions for kinematics and interpolation

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Figure 2-22

Generic 5-axis transformation; end point of orientation inside tolerance circle.

End point within the circle

If the end point is within the circle, the first axis comes to a standstill and the second axis moves

until the difference between target and actual orientation is minimal. However, since the first

rotary axis does not move, the orientation will generally deviate from the programmed value

(see previous figure). However, the programmed orientation can at least be reached exactly

if the first rotary axis happens to be positioned correctly.

Note

In the previous Figure the resulting path is a straight line because the position of the first rotary

axis is constant on that path. This representation is always correct, irrespective of the angle

between the two rotary axes. The orientation vector only moves in a plane, however, if the two

rotary axes and the basic orientation are all mutually perpendicular. In all other cases, the

orientation vector describes the outside of a cone.

End point outside the circle

If the orientation interpolation describes a path through the circle, while the end point is outside

the circle, the end point is approached with axis interpolation. This applies in particular if the

interpolation starting point is located inside the circle. Path deviations from the programmed

setpoint orientation are thus unavoidable.

Special functions

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87

F2: Multi-axis transformations

2.9 Orientation

2.9.2

Orientation movements with axis limits

Calculate rotary axis position

If the final orientation in a 5-axis transformation is programmed indirectly in an NC block by

means of a Euler, RPY angle or direction vector, it is necessary to calculate the rotary axis

positions that produce the desired orientation. This calculation has no unique result.

There are always at least two essentially different solutions. In addition, any number of

solutions can result from a modification to the rotary axis positions by any multiple of 360

degrees.

The control system chooses the solution which represents the shortest distance from the

current starting point, allowing for the programmed interpolation type.

Determining permissible axis limits

The control system attempts to define another permissible solution if the axis limits are violated,

by approaching the desired axis position along the shortest path. The second solution is then

verified, and if this solution also violates the axis limits, the axis positions for both solutions

are modified by multiples of 360 until a valid position is found.

The following conditions must be met in order to monitor the axis limits of a rotary axis and

modify the calculated end positions:

● A generic 5-axis transformation of type 24, 40 or 56 must be active.

● The axis must be referenced.

● The axis must not be a modulo rotary axis.

● The following machine data may not be equal to zero:

MD21180 $MC_ROT_AX_SWL_CHECK_MODE (check software limits for orientation axes)

MD21180 $MC_ROT_AX_SWL_CHECK_MODE specifies the conditions under which the

rotary axis positions may be modified:

Value

Meaning

0

No modification permitted (default, equivalent to previous behavior).

1

Modification is only permitted if axis interpolation is active (ORIAXES or ORIMKS).

2

Modification is always permitted, even if vector interpolation (large circle interpolation, conical

interpolation, etc.) was active originally.

Switch-over to axis interpolation

If the axis positions have to be changed from the originally determined value, the system

switches to rotary axis interpolation because the original interpolation path, e.g. large circle

interpolation or conical interpolation, can no longer be maintained.

Example

An example for modifying the rotary axis motion of a 5-axis machine with a rotatable tool is

shown in Chapter "Examples for generic axis transformations (Page 139)".

Special functions

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F2: Multi-axis transformations

2.9 Orientation

Contour accuracy

The maximum deviation from the programmed contour and tool orientation permitted during

compression is set with the following setting data:

● SD42475 $SC_COMPRESS_CONTUR_TOL = <maximum contour deviation>

● SD42476 $SC_COMPRESS_ORI_TOL = <maximum angular deviation of the tool

orientation>

Only effective with orientation transformation.

● SD42477 $SC_COMPRESS_ORI_ROT_TOL = <maximum angular deviation of the tool

orientation>

Only effective with orientation transformation in conjunction with 6-axis transformation.

Note

A maximum deviation of tool orientation can only be specified if an orientation transformation

is active (TRAORI).

Compression mode

With the machine data, the following decimal-coded functions are parameterized:

● Units digit: Taking into account tolerances

● Tens digit: Compression of blocks with programmed tool orientation and / or value

assignments.

● Hundreds digit: Compression of blocks, except linear blocks (G1).

● Thousands digit: Compression for specific applications.

MD20482 $MC_COMPRESSOR_MODE = <value>

Val-

Meaning

ue

Units digit

(Effective tolerance specifications)

xxx0

Geometry and orientation axes

MD33100 $MA_COMPRESS_POS_TOL

xxx1

Geometry axes

SD42475 $SC_COMPRESS_CONTUR_TOL

Orientation axes

MD33100 $MA_COMPRESS_POS_TOL

xxx2

Geometry axes

MD33100 $MA_COMPRESS_POS_TOL

Orientation axes

SD42476 $SC_COMPRESS_ORI_TOL

SD42477 $SC_COMPRESS_ORI_ROT_TOL

xxx3

Geometry axes

SD42475 $SC_COMPRESS_CONTUR_TOL

Orientation axes

SD42476 $SC_COMPRESS_ORI_TOL

SD42477 $SC_COMPRESS_ORI_ROT_TOL

Tens digit

(Compression of blocks with programmed tool orientation and / or value assignments)

xx0x

Blocks with programmed tool orientation and/or value assignments are compressed.

xx1x

Blocks with programmed tool orientation are compressed.

Blocks with value assignments are not compressed.

Special functions

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F2: Multi-axis transformations

2.9 Orientation

xx2x

Blocks with value assignments are compressed.

Blocks with programmed tool orientation are not compressed.

xx3x

Blocks with programmed tool orientation and / or value assignments are not compressed.

Hundreds digit

(Compression of blocks, except linear blocks (G1))

x0xx

Circular blocks and G0 blocks are not compressed.

x1xx

Circular blocks are linearized and compressed by COMPCAD.

x2xx

G0 blocks ¹⁾ are compressed.

x3xx

Circular blocks and G0 blocks ¹⁾ are compressed.

Thousands digit

(Compression for specific applications)

0xxx

Optimization regarding the surface quality in tool and mold making.

1xxx

Optimization regarding smooth and quick traversal.

Relevant for applications such as, for example, tape laying.

1) Another tolerance can be specified for compression with MD20560 $MC_G0_TOLERANCE_FAC-

TOR or NC command STOLF.

Programming

Tool orientation

If orientation transformation (TRAORI) is active, for 5-axis machines, tool orientation can be

programmed in the following way (independent of the kinematics):

● Programming of the direction vector via:

A3=<...> B3=<...> C3=<...>

● Programming of the Eulerangles or RPY-angles via:

A2=<...> B2=<...> C2=<...>

Rotation of the tool

For 6-axis machines you can program the tool rotation in addition to the tool orientation.

The angle of rotation is programmed with:

THETA=<...>

Note

NC blocks, in which rotation is also programmed, can only be compressed if the angle of

rotation changes linearly. I.e., an angle of rotation must not be programmed with a polynomial

PO[THT]=(...).

General structure of a compressible NC block

The general structure of an NC block that can be compressed can therefore look like this:

N... X=<...> Y=<...> Z=<...> A3=<...> B3=<...> C3=<...> THETA=<...> F=<...>

or

N... X=<...> Y=<...> Z=<...> A2=<...> B2=<...> C2=<...> THETA=<...> F=<...>

Special functions

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93

F2: Multi-axis transformations

2.9 Orientation

Maximum block path length

The orientation characteristic is only smoothed in blocks whose traversing distance is shorter

than the settable maximum block path length:

MD20178 $MC_ORISON_BLOCK_PATH_LIMIT

Blocks with longer traversing distances interrupt smoothing and are traversed as programmed.

Maximum tolerance

Smoothing of the orientation characteristic is carried out with the specified maximum tolerance

being observed (maximum angular displacement of tool orientation in degrees):

SD42678 $SC_ORISON_TOL

Maximum path distance

The maximum distance over which smoothing is carried is the specified path distance:

SD42680 $SC_ORISON_DIST

2.9.4.3

Activating/deactivating the orientation characteristic (ORISON, ORISOF)

The "Smoothing of the orientation characteristic" is activated/deactivated in the part program

using the commands of G group 61. The commands are modal.

Preconditions

● System with 5/6-axis transformation.

● Compressor function COMPCAD is active.

Syntax

ORISON

ORISOF

Meaning

ORISON:

Activating the orientation characteristic smoothing

ORISOF:

Deactivating the orientation characteristic smoothing

Example

Program code

Comment

TRAORI()

; Activation of orientation transformation.

COMPCAD

; Activating the COMPCAD compressor function.

ORISON

; Activating orientation smoothing.

Special functions

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F2: Multi-axis transformations

2.9 Orientation

● Hundred digit: Activation and definition of the direction of the lift motion for reorientation

during an active ORIPATH

● Thousands digit: Behavior of the path-relative orientation in the activation/deactivation

blocks of the tool offset

MD21094 $MC_ORIPATH_MODE = <value>

Val-

Meaning

ue

Units digit

(Orientation relative to the path)

xxx0

The tool orientation only has the reference to the path tangent and to the surface normal vector

programmed with LEAD and TILT, at the end of the block. During the block, the orientation does

not follow the path tangent.

xxx1

In the complete block, the tool orientation has the reference to the path tangent and surface

normal vector programmed with LEAD and TILT.

Tens digit

(Interpretation of the angles of rotation LEAD and TILT)

For path-relative orientation, the coordinate system is formed by the vectors path tangent T and pro-

grammed surface normal vector N.

Note 1: Programming the surface normal vector N

● at the block start: A4=… B4=… C4=…

● at the block end: A5=… B5=… C5=…

xx0x

)1

1st rotation LEAD: Rotation of the orientation vector O around

the path normal vector B_N

⇒ O'

2

2nd rotation TILT: Rotation of the new orientation vector O'

around the surface normal vector F_N ⇒ O''

2

2

7&3

%1

%7

%

xx1x

1st rotation LEAD: Rotation of the orientation vector O around

)1

⇒ O'

the path normal vector B_N

2

2nd rotation TILT: Rotation of the new orientation vector O'

around the path tangent vector B_T ⇒ O''

2

2

7&3

%1

%7

%

Special functions

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99

F2: Multi-axis transformations

2.9 Orientation

xx2x

)1

1st rotation LEAD: Rotation of the orientation vector O and the

2

path tangent vector B_T around the path normal vector B_N ⇒ O'

2

and B'_T

2nd rotation TILT: Rotation of the new orientation vector O'

2

around the new path tangent vector B'_T ⇒ O''

7&3

%1

%7

%

%7

xx3x

)1

1st rotation TILT: Rotation of the new orientation vector O

2

around the path tangent vector B_T ⇒ O'

2nd rotation LEAD: Rotation of the new orientation vector O'

2

around the path normal vector B_N ⇒ O"

2

7&3

%

7

%1

%

xx4x

)

7,/7

1st rotation TILT: Rotation of the orientation vector O and the

1

2

path normal vector B_N around the path tangent vector B_T ⇒ O'

2

and B'_N

2nd rotation LEAD: Rotation of the new orientation vector O'

2

around the new path normal vector B'_N ⇒ O"

7&3

%7

%1

%

%1

Hundreds digit

(Activation and definition of the direction of the lift motion for reorientation during an active ORIPATH)

Note

A programmed retraction/lift motion is only executed, for:

● Once digit == 1 AND

● Length of the lift vector ≠ 0.0

x0xx

No lift motion is executed.

x1xx

Lift motion is executed in the direction of the programmed lift vector in the toolcoordinate system.

The lift vector refers to the coordinate system defined by the actual tool direction (z coordinate)

and the orientation change (x coordinate).

x2xx

Lift motion is executed in the direction of the programmed lift vector in the workpiececoordinate

system. The lift vector refers to the coordinate system that is defined by the active plane (z

coordinate is the surface normal vector of the active plane) and the orientation change (x coor-

dinate).

Thousands digit

(Behavior of the path-relative orientation in the activation/deactivation blocks of the tool offset)

Special functions

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F2: Multi-axis transformations

2.9 Orientation

0xxx

The path-relative orientation is also maintained in activation or deactivation blocks of the tool

offset.

1xxx

The path-relative orientation is not maintained in activation or deactivation blocks of the tool

offset.

Note

The tool orientation normally remains constant in the activation or deactivation blocks of the tool

offset. However, in these blocks it is permitted to program a tool orientation, which is then

traversed through in these blocks. However, programming the orientation in these blocks is only

possible with vectors; it is not permitted to program rotary axis positions.

Address names for the lift vector components

The address names for the lift vector components are defined using machine data:

MD10624 $MN_ORIPATH_LIFT_VECTOR_TAB[ <vector component> ] = <name>

Example with standard data

Machine data

$MN_ORIPATH_LIFT_VECTOR_TAB[ 0 ] = "A8" ; x coordinate

$MN_ORIPATH_LIFT_VECTOR_TAB[ 1 ] = "B8" ; y coordinate

$MN_ORIPATH_LIFT_VECTOR_TAB[ 2 ] = "C8" ; z coordinate

Programming

ORIPATHS A8=X_KOORD B8=Y_KOORD C8=Z_KOORD

Note

Naming convention

The rules defined by MD20080 $MC_AXCONF_CHANAX_NAME_TAB should be complied

with for axis identifiers.

Address names for the safety factor for orientation change

Normally the retracting movement is performed simultaneously to the orientation change. The

address name for safety factor R can be defined using machine data:

MD10626 $MN_ORIPATH_LIFT_FACTOR_NAME = "<name>"

If safety factor R is greater than 0.0, then the orientation is only changed if the tool is traversed

by safety clearance S in the direction of the lift vector. Safety clearance S is calculated as

follows:

S = R * lift vector amount; definition range of factor R: 0 ≤ R < 1

Example with standard data

Machine data

$MN_ORIPATH_LIFT_FACTOR_NAME = "ORIPLF"

Programming

ORIPATHS A8=X_KOORD B8=Y_KOORD C8=Z_KOORD

; lift vector

ORIPLF=0.1

; safety clearance = 0.1 * lift vector amount (A8, B8,

C8)

Special functions

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101

F2: Multi-axis transformations

2.9 Orientation

2.9.7

System variable for tool orientation

The tool orientation can be read in various coordinate systems (BCS, WCS, SZS) via system

variables as well as also via OPI variables.

Tool orientation in BCS

System variable

Meaning

$AC_TOOLO_ACT[<i>]

; <i> = 1, 2, 3

i-th component of the vector of the actual reference

orientation

$AC_TOOLO_END[<i>]

; <i> = 1, 2, 3

i-th component of the vector of the end orientation

of the actual block

$AC_TOOLO_DIFF

Residual angle in degrees, i.e. this is the angle be-

tween vectors $AC_TOOLO_END[<i>] and

$AC_TOOLO_ACT[<i>]

$VC_TOOLO[<i>]

; <i> = 1, 2, 3

i-th component of the vector of the actual orientation

$VC_TOOLO_DIFF

Angle in degrees between reference and actual val-

ue orientation

$VC_TOOLO_STAT

Status variable for actual orientation

Indicates whether the actual orientation can be cal-

culated. The following values are possible:

0

Actual orientation can be calculated.

-1

Actual orientation cannot be calculated, as the

presently active transformation cannot calcu-

late these values in real time.

These system variables can always be read by the part program as well as in synchronized

actions. Write access operations are not permitted.

Note

The components of vectors $AC_TOOLO_ACT[<i>], $AC_TOOLO_END[<i>] and

$VC_TOOLO[<i>] of the orientation are scaled so that the orientation vector has the absolute

value of 1.

Rotation vector in the BCS

For a 6-axis kinematics, in addition to the orientation of the tool, there is also a rotation of the

tool, which can be changed.

System variable

Meaning

$P_TOOLROT[<i>]

; <i> = 1, 2, 3

i-th component of the actual rotation vector in the

NC program

$AC_TOOLR_ACT[<i>]

; <i> = 1, 2, 3

i-th component of the vector of the actual setpoint

of the orientation rotation

$AC_TOOLR_END[<i>]

; <i> = 1, 2, 3

i-th component of the vector of the setpoint of the

rotation at the end of the actual block

Special functions

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F2: Multi-axis transformations

2.9 Orientation

System variable

Meaning

$AC_TOOLR_DIFF

Residual angle in degrees, i.e. this is the angle be-

tween vectors $AC_TOOLR_END[<i>] and

$AC_TOOLR_ACT[<i>]

$VC_TOOLR[<i>]

; <i> = 1, 2, 3

i-th component of the vector of the actual value of

the orientation rotation

$VC_TOOLR_DIFF

Angle in degrees between the setpoint and actual

value of the orientation rotation

$VC_TOOLR_STAT

Status variable for the actual value of the rotation

vector

Indicates whether the actual value of the rotation

vector can be calculated. The following values are

possible:

0

The actual value of the rotation vector can be

calculated.

-1

Actual value of the rotation vector cannot be

calculated, as the presently active transforma-

tion cannot calculate these values in real time.

Orientation and rotation of the tool in the various coordinate systems (BCS, WCS, SZS)

Tool orientation

System variable

Meaning

$P_TOOL_O[<i>,<j>]

; <i> =1, 2, 3

i-th component of the actual orientation vector in the

NC program in the coordinate system <j>

; <j> = 0, 1, 2

<j> = 0:

BCS

<j> = 1:

WCS

<j> = 2:

SZS

$AC_TOOL_O_ACT[<i>,< j>]

; <i> =1, 2, 3

i-th component of the actual orientation vector in the

coordinate system <j>

; <j> = 0, 1, 2

$AC_TOOL_O_END[<i>,< j>]

; <i> =1, 2, 3

i-th component of the end orientation of the actual

block in the coordinate system <j>

; <j> = 0, 1, 2

$AC_TOOL_O_DIFF[<j>]

; <j> = 0, 1, 2

Residual angle of the orientation vector in degrees

in various coordinate systems <j>

$VC_TOOL_O[<i>,<j>]

; <i> =1, 2, 3

i-th component of the vector of the actual orientation

in various coordinate systems <j>

; <j> = 0, 1, 2

$VC_TOOL_O_DIFF[<j>]

; <j> = 0, 1, 2

Angle in degrees between reference and actual val-

ue orientation in various coordinate systems <j>

Rotation vector (only for 6-axis kinematics)

System variable

$P_TOOL_R[<i>,<j>]

; <i> =1, 2, 3

i-th component of the actual rotation vector in the

NC program in the coordinate system <j>

; <j> = 0, 1, 2

<j> = 0:

BCS

<j> = 1:

WCS

<j> = 2:

SZS

Special functions

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107

F2: Multi-axis transformations

2.10 Orientation axes

System variable

$AC_TOOL_R_ACT[<i>,<j>]

; <i> =1, 2, 3

i-th component of the actual rotation vector in the

coordinate system <j>

; <j> = 0, 1, 2

$AC_TOOL_R_END[<i>,<j>]

; <i> =1, 2, 3

i-th component of the rotation vector at the end of

the actual block in the coordinate system <j>

; <j> = 0, 1, 2

$AC_TOOL_R_DIFF[<j>]

; <j> = 0, 1, 2

Residual angle of the rotation vector in degrees in

various coordinate systems <j>

$VC_TOOL_R[<i>,<j>]

; <i> =1, 2, 3

i-th component of the actual value of the rotation

vector in various coordinate systems <j>

; <j> = 0, 1, 2

$VC_TOOL_R_DIFF[<j>]

; <j> = 0, 1, 2

Angle in degrees between reference and actual val-

ue of the rotation vector in various coordinate sys-

tems <j>

Boundary conditions

Not all transformations provide the actual value of the tool orientation in real time. In this case,

variables $VC_TOOLO[<i>] or VC_TOOL_O[<i>] and $VC_TOOLO_DIFF or

$VC_TOOL_O_DIFF cannot be calculated. The components of $VC_TOOLO[<i>] or

$VC_TOOL_O[<i>] are all zero, and status variable $VC_TOOLO_STAT supplies the value

"-1". The same is true for the actual values of the rotation vector $VC_TOOLR[<i>] or

$VC_TOOL_R[<i>,<j>].

2.10

Orientation axes

Directions of rotation

The directions around which axes are rotated are defined by the axes of the reference system.

In turn, the reference system is defined by ORIMKS and ORIWKS commands:

● ORIMKS : Reference system = Basic coordinate system

● ORIWKS: Reference system = Workpiece coordinate system

Order of rotation

The order of rotation for the orientation axes is defined by the following machine data:

MD21120 $MC_ORIAX_TURN_TAB_1[0..2] (definition of reference axes for ORI axes)

1. First rotation around the axis of the reference system, defined in the following machine data:

MD21120 $MC_ORIAX_TURN_TAB_1[0]

2. Second rotation around the axis of the reference system, defined in the following machine

data:

MD21120 $MC_ORIAX_TURN_TAB_1[1]

3. Third rotation around the axis of the reference system, defined in the following machine

data:

MD21120 $MC_ORIAX_TURN_TAB_1[2]

Special functions

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F2: Multi-axis transformations

2.10 Orientation axes

Orientable toolholder with additive offset

On an orientable toolholder, the offset for both rotary axes can be programmed with the system

variables $TC_CARR24 and $TC_CARR25. This rotary axis offset can be transferred

automatically from the zero offset effective at the time the orientable toolholder was activated.

Automatic transfer of offset from zero offset is made possible via the following machine data:

MD21186 $MC_TOCARR_ROT_OFFSET_FROM_FR = TRUE (offset of TOCARR rotary axes

from NPV)

Note

For more information about orientable toolholders, please see:

Reference:

Function Manual, Basic Machine; Tool Offset (W1)

2.10.4

Orientation transformation and orientable tool holders

Note

Orientation transformation and orientable tool holders can becombined.

The resulting orientation of the tool is produced by linking the orientation transformation and

the orientable tool holder.

2.10.5

Modulo display of orientation axes

Function

The positions of orientation axes can be displayed for the BCS and WCS display in a settable

modulo area. Whether the machine axes are linear or rotary is not relevant in this context. This

means that this display option can be enabled even for normal generic 5/6-axis transformation.

Requirements

● Orientation axes must be available. This is the case if an orientation transformation is active

(e.g. generic 5-/6-axis transformation).

● The following machine data must also be set for OEM transformations:

MD24585 $MC_TRAFO5_ORIAX_ASSIGN_TAB_1[0..2]

Parameterization

The modulo display of orientation axes is activated as follows:

MD21132 $MC_ORI_DISP_IS_MODULO[0...2] = TRUE

Special functions

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F2: Multi-axis transformations

2.11 Orientation vectors

3+,

6WDUW YHFWRU

(QG YHFWRU

Figure 2-23

Rotation of the orientation vector in the plane between start and end vector

PHI and PSI angle

Programming of polynomials for the two angles PO[PHI] and PO[PSI] is always possible.

Whether the programmed polynomials are actually interpolated for PHI and PSI depends on:

● POLYPATH("VECT") and ORIVECT are active, then the polynomials will be interpolated.

● If POLYPATH("VECT") and ORIVECT are not active, the programmed orientation vectors

are traversed at the end of the block by a "normal" large circle interpolation. This means

that the polynomials for the two angles PHI and PSI are ignored in this case.

6WDUW

(QG

3+,

36,

Figure 2-24

Movement of the orientation vector in plan view

The angle PSI can be used to generate movements of the orientation vector perpendicular to

large circle interpolation plane (see previous figure).

Maximum polynomials of the 5th degree permitted

As a maximum, 5th degree polynomials can be programmed for the PHI and PSI angles. Here

the constants and linear coefficient are defined by the initial value or end value of the orientation

vector.

Higher degree coefficients can be omitted from the coefficient list (...,

) if these are all equal

to zero.

The length of the parameter interval in which the polynomials are defined can also be

programmed with PL.

Special functions

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F2: Multi-axis transformations

2.11 Orientation vectors

A programmable rotation of the orientation vector is only possible when an orientation

transformation (TRAORI) is active.

A programmed orientation rotation is only interpolated if the machine kinematics allow rotation

of the tool orientation (e.g. 6-axis machines).

2.11.3

Extended interpolation of orientation axes

Functionality

To execute a change in orientation along the peripheral surface of a cone located in space, it

is necessary to perform an extended interpolation of the orientation vector. The vector around

which the tool orientation is to be rotated must be known. The start and end orientation must

also be specified. The start orientation is given by the previous block and the en orientation

must either be programmed or defined by other conditions.

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Figure 2-25

Change in orientation of the peripheral surface of a cone located in space

Required definitions

Generally, the following data is required:

● The start orientation is defined by the end orientation of the previous block.

● The end orientation is defined either by specifying the vector (with A3, B3, C3), the Euler

angles or RPY angles (with A2, B2, C2) or by programming the positions of the rotary axis

(with A, B, C).

● The rotary axis of the taper is programmed as a (normalized) vector with A6, B6, C6.

Special functions

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123

F2: Multi-axis transformations

2.12 Online tool length offset

Application

The online tool length compensation function can be used for:

● Orientation transformations (TRAORI)

● Orientable tool carriers (TCARR)

Note

The online tool length offset is an option. This function is only practical in conjunction with

an active orientation transformation or an active orientable toolholder.

Reference:

Function Manual, Basic Functions; Tool Offset, Section: Orientable toolholders (W1)

Block preparation

In the case of block preparation in run-in, the tool length offset currently active in the main run

is considered. In order to utilize the maximum permissible axis velocities as far as possible, it

is necessary to halt the block preparation with a stop preprocessing command (STOPRE) while

a tool offset is being generated.

The tool offset is always known at the time of run-in when the tool length offsets are not changed

after program start or if more blocks have been processed after changing the tool length offsets

than the IPO buffer can accommodate between run-in and main run. This ensures that correct

axis velocities are applied quickly.

The dimension for the difference between the currently active compensation in the interpolator

and the compensation that was active at the time of block preparation can be polled in the

system variable $AA_TOFF_PREP_DIFF[ ].

Note

Changing the effective tool length using online tool length offset produces changes in the

compensatory movements of the axes involved in the transformation in the event of changes

in orientation. The resulting velocities can be higher or lower depending on machine kinematics

and the current axis position.

MD21190 $MC_TOFF_MODE (operation of tool offset)

The following machine data can be used to set whether the content of the synchronization

variable $AA_TOFF[ ] is to be approached as an absolute value or whether an integrating

behavior is to take place:

MD21190 $MC_TOFF_MODE

The integrating behavior of $AA_TOFF[ ] allows 3D remote control. The integrated value is

available via the system variable $AA_TOFF_VAL[ ].

Special functions

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F2: Multi-axis transformations

2.12 Online tool length offset

The following machine data and setting data are available for configuring online tool length

compensation:

Machine data / setting data

Meaning for online tool length offset

MD21190 $MC_TOFF_MODE

The contents of $AA_TOFF[ ] are traversed as an

absolute value or integrated

MD21194 $MC_TOFF_VELO (speed online tool

Speed of online tool length offset

offset)

MD21194 $MC_TOFF_ACCEL (acceleration on-

Acceleration of online tool length offset

line tool offset)

SD42970 $SC_TOFF_LIMIT (upper limit of off-

Upper limit of tool length offset value

set value $AA_TOFF)

With the acceleration margin, 20% is reserved for the overlaid movement of online tool length

offset, which can be changed via the following machine data:

MD20610 $MC_ADD_MOVE_ACCEL_RESERVE(acceleration margin for overlaid

movements)

Activation

The TOFFON instruction can be used to activate online tool length offset from the part program

for at least one tool direction, if the option is available. During activation an offset value can

be specified for the relevant direction of compensation and this is immediately traversed.

Example: TOFFON(Z, 25).

Repeated programming of the instruction TOFFON( ) with an offset causes the new offset to

be applied. The offset value is added to variables $AA_TOFF[ ] as an absolute value.

Note

For further information about programming plus programming examples, please see:

Reference:

Programming Manual, Job Planning; Transformations

As long as online tool length offset is active, the VDI signal at the NC → PLC interface in the

following interface signal is set to 1:

DB21, ... DBX318.2 (TOFF active)

While a correction movement is active, the VDI → signal in the following interface signal is set

to 1:

DB21, ... DBX318.3 (TOFF movement active)

Reset

Compensation values can be reset with the TOFFOF( ) command. This instruction triggers a

preprocessing stop.

Accumulated tool length compensations are cleared and incorporated in the basic coordinate

system. The run-in is synchronized with the current position in main run. Since no axes can

be traversed here, the values of $AA_IM[ ] do not change. Only the values of the variables

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129

F2: Multi-axis transformations

2.12 Online tool length offset

$AA_IW[ ] and $AA_IB[ ] are changed. These variables now contain the deselected share of

tool length compensation.

Once "Online tool length offset" has been deselected for a tool direction, the value of system

variable $AA_TOFF[ ] or $AA_TOFF_VAL[ ] is zero for this tool direction. The following interface

signal is set to 0:

DB21, ... DBX318.2 (TOFF active)

Alarm 21670

An existing tool length offset must be deleted via TOFFOF( ) so that alarm 21670 "Channel

%1 block %2, illegal change of tool direction active due to $AA_TOFF active" is suppressed:

● When the transformation is deactivated with TRAFOOF

● On switch-over from CP to PTP travel.

● If a tool length offset exists in the direction of the geometry axis during geometry

replacement.

● If a tool length offset is present during change of plane.

● When changing from axis-specific manual travel in the JOG mode to PTP as long as a tool

length offset is active. There is no switchover to PTP.

Mode change

Tool length compensation remains active even if the mode is changed and can be executed

in any mode.

If a tool length compensation is interpolated on account of $AA_TOFF[ ] during mode change,

the mode change cannot take place until the interpolation of the tool length compensation has

been completed. Alarm 16907 "Channel %1 action %2 ALNX possible only in stop state" is

issued.

Behavior with REF and block search

Tool length offset is not considered during reference point approach REF in JOG mode.

The instructions TOFFON( ) and TOFFOF( ) are not collected and output in an action block

during block search.

System variable

In the case of online tool length offset, the following system variables are available to the user:

System variable

Meaning for online tool length offset

$AA_TOFF[ ]

Position offset in the tool coordinate system

$AA_TOFF_VAL[ ]

Integrated position offset in the WCS

$AA_TOFF_LIMIT[ ]

Query whether the tool length offset value is close to the limit

$AA_TOFF_PREP_DIFF[ ]

Magnitude of the difference between the currently active value of

$AA_TOFF[ ] and the value prepared as the current motion block.

Special functions

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