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SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 66

K12 transformation definitions with kinematic chains

9.2 Commissioning

Example

The call of the first orientation transformation TRAORI(2) in the third channel should be

diverted to the second transformation with kinematic chains.

Program code

Comment

N100 $NT_TRAFO_INDEX[1] = 03021

; 1st transformation with kin. chains,

; 1st orientation transformation for chan-

nel 3

9.2.4.4

$NT_TRAFO_TYPE

Function

The designation of the transformation type must be entered in the system variable.

Syntax

$NT_TRAFO_TYPE[<n>] = "<TrafoType>"

Meaning

$NT_TRAFO_TYPE:

Transformation type

Data type:

STRING

Default value:

""

Value range:

Value

Meaning

"TRAORI_DYN"

Dynamic orientation transformation

with orientation axes

"TRAORI_STAT"

Static orientation transformation with-

out orientation axes

"TRAANG"

Inclined angle transformation without

orientation axes

"TRAANG_K"

Oblique angle transformation

(The extension "_K" distinguishes it

from a conventionally defined

TRAANG transformation)

"TRANSMIT_K"

Face end transformation TRANSMIT

"TRACON_K"

Concatenating transformations

<n>:

System variable or transformation index

Data type:

INT

Range of val-

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

ues:

<TrafoType>:

Transformation type

Data type:

STRING

Special functions

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9.2 Commissioning

Example

The first transformation with kinematic chains describes a dynamic orientation transformation

with orientation axes:

Program code

Comment

N100 $NT_TRAFO_TYPE[1] =

; 1st transformation,

"TRAORI_DYN"

; transformation type = "TRAORI_DYN"

9.2.4.5

$NT_T_CHAIN_FIRST_ELEM

Function

The kinematics of a transformation is described by up to two kinematic subchains, which begin

in the respective root element (Page 191), i.e. the first element of the active kinematic chain.

One subchain leads from the root element to the workpiece reference point (see Definition of

kinematic transformations (Page 316)). The other subchain leads to the tool reference point.

If the subchain does not start, as is usual, in the root element, the first element of the active

kinematic subchain can be defined for the tool chain and for the workpiece chain using the

system variables

The name ($NK_NAME (Page 199)) of the element of the kinematic subchain that is currently

active, which defines the starting point of the subchain for the tool reference point, must be

entered in the system variable $NT_T_CHAIN_FIRST_ELEM.

Note

Pure tool kinematics

The first element only has to be defined in $NT_P_CHAIN_FIRST_ELEM in special

circumstances; otherwise the system variable can remain empty. In this case, the ROOT

element is used as the first element.

Syntax

$NT_T_CHAIN_FIRST_ELEM[<n>] = "<ElementName>"

Meaning

$NT_T_CHAIN_FIRST_ELE

Name of the element that defines the starting point of the currently ac-

M:

tive kinematic chain for the tool reference point.

Data type:

STRING

Default value:

""

Value range:

Element names of the currently active kinematic chain

<n>:

System variable or transformation index

Data type:

INT

Value range:

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

Special functions

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9.2 Commissioning

<ElementName>:

Name of an element of the currently active kinematic chain

Data type:

STRING

Example

For the first transformation, the name of the element of the kinematic subchain that defines

the starting point of the subchain for the workpiece reference point is "Baseoffset_2":

Program code

Comment

N100 $NT_T_CHAIN_FIRST_ELEM[1] = "Base-

; 1st transformation,

offset_2"

; first element for the tool reference

point

9.2.4.6

$NT_P_CHAIN_FIRST_ELEM

Function

The kinematics of a transformation is described by a maximum of two kinematic subchains,

which begin in the respective root element (Page 191), i.e. the first element of the kinematic

chain that is in effect. One subchain leads from the root element to the tool reference point

(see Definition of kinematic transformations (Page 316)). The other subchain, which is

described here, leads to the workpiece reference point. If the subchain does not start, as is

usual, in the root element, the first element of the active kinematic subchain can be defined

for the tool and workpiece chain using the system variables.

The name ($NK_NAME (Page 199)) of the element of the kinematic chain that is currently in

effect, which defines the starting point of the subchain for the workpiece reference point, must

be entered in the system variable $NT_P_CHAIN_FIRST_ELEM.

Note

Pure workpiece kinematics

The first element only has to be defined in $NT_T_CHAIN_FIRST_ELEM in special

circumstances; otherwise the system variable can remain empty. In this case, the ROOT

element is used as the first element.

Syntax

$NT_P_CHAIN_FIRST_ELEM[<n>] = "<ElementName>"

Meaning

$NT_P_CHAIN_FIRST_ELE

Name of the first element of the kinematic subchain that is currently

M:

active defined at the endpoint of the tool reference point.

Data type:

STRING

Default value:

""

Value range:

Element names of the currently active kinematic chain

Special functions

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<n>:

System variable or transformation index

Data type:

INT

Range of val-

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

ues:

<ElementName>:

Name of an element of the currently active kinematic chain

Data type:

STRING

Example

For the first transformation, the name of the element of the kinematic chain that defines the

end point of the subchain for the workpiece reference point is "TableOffset":

Program code

Comment

N100 $NT_P_CHAIN_FIRST_ELEM[1] = "Base-

; 2nd transformation,

offset"

; element for the workpiece reference

point

9.2.4.7

$NT_T_CHAIN_LAST_ELEM

Function

The kinematics of a transformation is described by a maximum of two kinematic subchains,

which begin in the respective root element (Page 191), i.e. the first element of the kinematic

chain that is in effect. One subchain leads from the root element to the workpiece reference

point (see Definition of kinematic transformations (Page 316)). The other subchain, which is

described here, leads to the tool reference point.

The name ($NT_NAME (Page 339)) of the element of the kinematic chain that is currently in

effect, which defines the end point of the subchains for the tool reference point, must be entered

in the system variable $NT_T_CHAIN_LAST_ELEM.

Note

Pure tool kinematics

If, for pure tool kinematics, the kinematics of the transformation is completely described by the

subchain for the tool reference point, the parameterization of the system variable

$NT_T_CHAIN_LAST_ELEM is sufficient. The system variable for describing the subchain for

the workpiece reference point ($NT_P_CHAIN_LAST_ELEM) can remain blank.

Syntax

$NT_T_CHAIN_LAST_ELEM[<n>] = "<ElementName>"

Special functions

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9.2 Commissioning

Meaning

$NT_T_CHAIN_LAST_ELEM:

Name of the element of the kinematic chain currently in effect, which

defines the end point for the tool reference point, starting from the root

element.

Data type:

STRING

Default value:

""

Value range:

Element names of the currently active kinematic chain

<n>:

System variable or transformation index

Data type:

INT

Range of val-

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

ues:

<ElementName>:

Name of an element of the currently active kinematic chain

Data type:

STRING

Example

For the first transformation, the name of the element of the kinematic chain that defines the

end point of the subchain for the tool reference point is "Basetool":

Program code

Comment

N100 $NT_T_CHAIN_LAST_ELEM[1] = "base

; 1st transformation,

tool"

; element for the tool reference point

9.2.4.8

$NT_P_CHAIN_LAST_ELEM

Function

The kinematics of a transformation is described by a maximum of two kinematic subchains,

which begin in the respective root element (Page 191), i.e. the first element of the kinematic

chain that is in effect. One subchain leads from the root element to the tool reference point

(see Definition of kinematic transformations (Page 316)). The other subchain, which is

described here, leads to the workpiece reference point.

The name ($NT_NAME (Page 339)) of the element of the kinematic chain that is currently in

effect, which defines the end point of the subchains for the workpiece reference point, must

be entered in the system variable $NT_P_CHAIN_LAST_ELEM.

Note

Pure workpiece kinematics

If, for pure workpiece kinematics, the kinematics of the transformation is completely described

by the subchain for the workpiece reference point, the parameterization of the system variable

$NT_P_CHAIN_LAST_ELEM is sufficient. The system variable for describing the subchain for

the tool reference point ($NT_T_CHAIN_LAST_ELEM) can remain blank.

Special functions

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9.2 Commissioning

Syntax

$NT_P_CHAIN_LAST_ELEM[<n>] = "<ElementName>"

Meaning

$NT_P_CHAIN_LAST_ELEM:

Name of the element of the kinematic chain currently in effect, which

defines the end point for the workpiece reference point, starting from

the root element.

Data type:

STRING

Default value:

""

Value range:

Element names of the currently active kinematic chain

<n>:

System variable or transformation index

Data type:

INT

Range of val-

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

ues:

<ElementName>:

Name of an element of the currently active kinematic chain

Data type:

STRING

Example

For the first transformation, the name of the element of the kinematic chain that defines the

end point of the subchain for the workpiece reference point is "TableOffset":

Program code

Comment

N100 $NT_P_CHAIN_LAST_ELEM[1] = "Ta-

; 2nd transformation,

bleOffset"

; element for the workpiece reference

point

9.2.4.9

$NT_T_REF_ELEM

Function

The name ($NT_NAME (Page 339)) of the element of the kinematic chain that is currently in

effect, which defines the tool reference position, i.e. the reference point for the tool length

calculation, must be entered in the system variable. The tool reference position is located at

the starting point of the kinematic element.

If no name of an element is entered in the system variable, the tool reference position is

identical to the tool reference point.

Syntax

$NT_T_REF_ELEM[<n>] = "<RefElementName>"

Special functions

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9.2 Commissioning

Meaning

$NT_T_REF_ELEM:

Name of the element of the kinematic chain that is currently in effect,

which defines the tool reference position.

Data type:

STRING

Default value:

"" (tool reference position = tool reference point)

Value range:

Element names of the currently active kinematic chain

<n>:

System variable or transformation index

Data type:

INT

Range of val-

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

ues:

<RefElementName>:

Name of an element of the currently active kinematic chain

Data type:

STRING

Example

For the first transformation, the name of the element of the kinematic chain that is currently in

effect, which defines the tool reference position, is "ToolRefPoint":

Program code

Comment

N100 $NT_T_REF_ELEM[1] = "ToolRef-

; 1st transformation,

Point"

; element for the tool reference position

9.2.4.10

$NT_GEO_AX_NAME

Function

A maximum of three names ($NT_NAME (Page 339)) of the elements of the kinematic chain

that is currently in effect, which define the geometry axes (linear axes) of the transformation

type (Page 316) to be parameterized, must be entered in the system variable. The geometry

axes carry out the linear compensating movements, which result from the kinematic

transformation.

Syntax

$NT_GEO_AX_NAME[<n>,<k>] = "<GeoAxElementName>"

Meaning

$NT_GEO_AX_NAME:

Names of the elements of the kinematic chain currently in effect, which

define the geometry axes

Data type:

STRING

Default value:

("", "", "")

Value range:

Element names of the currently active kinematic chain

Special functions

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<n>:

System variable or transformation index

Data type:

INT

Value range:

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

<k>:

Index for the elements that define the geometry axes

Data type:

INT

Range of val-

0: X coordinate (abscissa)

ues:

1: Y coordinate (ordinate)

2: Z coordinate (applicate)

<GeoAxElementName>:

Name of an element of the kinematic chain that is currently in effect,

which defines a geometry axis.

Data type:

STRING

Example

For the first transformation, the names of the elements of the kinematic chain currently in effect,

which define the geometry axes, are "X_AXIS", Y_AXIS" and "Z_AXIS", must be entered.

Program code

Comment

; 1st transformation,

; elements of the geometry axes:

N100 $NT_GEO_AX_NAME[1,0] = "X_AXIS"

; X coordinate (abscissa)

N110 $NT_GEO_AX_NAME[1,1] = "Y_AXIS"

; Y coordinate (ordinate)

N120 $NT_GEO_AX_NAME[1,2] = "Z_AXIS"

; Z coordinate (applicate)

9.2.4.11

$NT_ROT_AX_NAME

Function

A maximum of three names ($NT_NAME (Page 339)) of the elements of the kinematic chain

that is currently in effect, which define the rotary axes of the transformation type (Page 316)

to be parameterized, must be entered in the system variable.

● Orientation transformation: The orientation axes A, B, C

● Face end (TRANSMIT) and cylinder surface transformation (TRACYL): The rotary axis,

which rotates the workpiece and, together with a linear axis, defines the polar coordinate

system.

Order of definitions

The maximum three rotary axes, beginning at Index 0, must be entered in the system variables

in the order in which they are defined in the kinematic chain that is currently in effect.

The kinematic chain must be run through as follows:

1. Starting point: Workpiece reference point

2. Elements of the chain

3. End point: Tool reference point

Special functions

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9.2 Commissioning

The elements that define the rotary axes must be seamlessly entered in the system variable

with their names, starting at Index 0.

Syntax

$NT_ROT_AX_NAME[<n>,<k>] = "<RotAxElementName>"

Meaning

$NT_ROT_AX_NAME:

Names of the elements of the kinematic chain currently in effect, which

define the rotary axes

Data type:

STRING

Default value:

("", "", "")

Value range:

Element names of the currently active kinematic chain

<n>:

System variable or transformation index

Data type:

INT

Value range:

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

<k>:

Index for the elements that define the rotary axes

Data type:

INT

Range of val-

0: 1st rotary axis in the definition sequence

ues:

1: 2nd rotary axis in the definition sequence

2: 3rd rotary axis in the definition sequence

<RotAxElementName>:

Name of an element of the kinematic chain that is currently in effect,

which defines a rotary axis.

Data type:

STRING

Example

For the first transformation, the names of the elements of the kinematic chain currently in effect,

which define the rotary axes, are "ROT_AXIS_1", ROT_AXIS_2" and "ROT_AXIS_3" must be

entered.

Program code

Comment

; 1st transformation,

; elements of the rotary axes:

N100 $NT_ROT_AX_NAME[1,0] = "ROT_AXIS_1"

; 1st rotary axis

N110 $NT_ROT_AX_NAME[1,1] = "ROT_AXIS_2"

; 2nd rotary axis

N120 $NT_ROT_AX_NAME[1,2] = "ROT_AXIS_3"

; 3rd rotary axis

Special functions

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9.2.4.12

$NT_ROT_AX_OFFSET

Function

System variable $NT_ROT_AX_OFFSET allows you to enter an angle offset for the rotary axes

of the active transformation.

● For TRAORI_K, these are the rotary axes 1, 2, and 3.

● For TRANSMIT_K and TRACYL_K it is rotary axis 1.

Supplementary conditions

● System variable $NT_ROT_AX_OFFSET for Transmit or Tracyl transformations without a

kinematic chain corresponds to machine data $MC_TRANSMIT_ROT_AX_OFFSET_n or

$MC_TRACYL_ROT_AX_OFFSET_n.

● System variable $NT_ROT_AX_OFFSET for orientation transformations without a kinematic

chain corresponds to machine data $MC_TRAFO5_ROT_AX_OFFSET_n.

Syntax

$NT_ROT_AX_OFFSET[<n,m>] = <offset_angle>

Meaning

$NT_ROT_AX_OFFSET

Angle offset for rotary axes

Data type:

REAL

Default value:

-1; content is not evaluated

<n>:

System variable or transformation index

Data type:

INT

Value range:

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

<m>:

Index of the variable $NT_ROT_AX_CNT; specifies for which rotary axis

the offset is set.

Data type:

INT

Range of values

●

0 ... 2; for orientation transformation

●

1; for TRANSMIT_K and TRACYL_K

Example

Provides the number of rotary axes for the subchain:

Program code

Comment

N100 $NT_ROT_AX_CNT[1,0] = 180

; assigns offset "180 °" to rotary axis

"0" of transformation "1".

Special functions

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9.2 Commissioning

9.2.4.13

$NT_CLOSE_CHAIN_P

Function

The name ($NT_NAME (Page 339)) of the element of the currently active kinematic chain, at

the end of which the subchain for the workpiece reference point is closed if $NT_CNTRL, Bit

7 == 1, can be entered in the system variable.

If no name is entered in the system variable, the subchain is closed independently of

$NT_CNTRL, Bit 7, at the end of the last element (workpiece reference point).

Syntax

$NT_CLOSE_CHAIN_P[<n>] = "<ElementName>"

Meaning

$NT_CLOSE_CHAIN_P:

Name of the element of the kinematic chain currently in effect, at the

end of which the subchain for the workpiece reference point is closed

Data type:

STRING

Default value:

""

Value range:

Element names of the currently active kinematic chain

<n>:

System variable or transformation index

Data type:

INT

Range of val-

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

ues:

<ElementName>:

Name of an element of the currently active kinematic chain

Data type:

STRING

Example

For the first transformation, the name of the element of the kinematic chain, at the end of which

the part chain for the workpiece reference point is closed, is: "P_Offset_3"

Program code

Comment

N100 $NT_CLOSE_CHAIN_P[1] = "P_Off-

; 1st transformation,

set_3"

; element for closing the subchain

; to the workpiece reference point

See also

$NT_CNTRL (Page 357)

Special functions

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9.2.4.14

$NT_CLOSE_CHAIN_T

Function

The name ($NT_NAME (Page 339)) of the element of the currently active kinematic chain, at

the end of which the subchain for the tool reference point is closed if $NT_CNTRL, Bit 8 == 1

($NT_CNTRL (Page 357)), can be entered in the system variable.

If no name is entered in the system variable, the subchain is closed independently of

$NT_CNTRL, Bit 8, at the end of the last element (tool reference point).

Syntax

$NT_CLOSE_CHAIN_T[<n>] = "<ElementName>"

Meaning

$NT_CLOSE_CHAIN_T:

Name of the element of the kinematic chain currently in effect, at the

end of which the subchain for the tool reference point is closed

Data type:

STRING

Default value:

""

Value range:

Element names of the currently active kinematic chain

<n>:

System variable or transformation index

Data type:

INT

Range of val-

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

ues:

<ElementName>:

Name of an element of the currently active kinematic chain

Data type:

STRING

Example

For the first transformation, the name of the element of the kinematic chain, at the end of which

the part chain for the tool reference point is closed, is: "T_Offset_3"

Program code

Comment

N100 $NT_CLOSE_CHAIN_T[1] = "T_Off-

; 1st transformation,

set_3"

; element for closing the subchain

; to the tool reference point

Special functions

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Meaning

$NT_ROT_OFFSET_FROM_FRAME:

Importing the rotary axis offset from the work offset upon se-

lection of the transformation:

●

0 = Axial offset of the rotary axis is not taken into account.

●

1 = axial offset of the rotary axis is taken into account.

●

2 = Axial offset of the rotary axis is taken into account up

to the SZS or is automatically applied (see above).

Data type:

INT

Default value:

0

<n>:

System variable or transformation index

Data type:

INT

Value range:

0, 1, 2

ROTOffset

Rotary axis offset

Example

The 2nd transformation is assigned the name "B axis":

Program code

Comment

N100 $NT_ROT_OFFSET_FROM_FRAME[1] =

; axial offset of the rotary axis is taken

1

into account.

9.2.4.16

$NT_TRAFO_INCLUDES_TOOL

Function

Information about whether the tool length is to be handled within the transformation or outside

of the transformation must be entered in the system variable.

Syntax

$NT_TRAFO_INCLUDES_TOOL[<n>] = "<>"

Meaning

$NT_TRAFO_INCLUDES_TOOL:

Defines whether the tool length is handled within or outside of the

transformation.

Data type:

BOOL

●

0: Tool length is handled outside of the

transformation.

●

1: Tool length is handled within the transformation.

Default val-

0

ue:

Special functions

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<n>:

System variable or transformation index

Data type:

INT

Range of

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS -

values:

1)

Example

The 2nd transformation is assigned the name "B axis":

Program code

Comment

N100 $NT_TRAFO_INCLUDE_TOOL[1] =

; 1st transformation,

"1"

; tool length is processed within the

transformation.

9.2.4.17

$NT_AUX_POS

Function

A position vector, e.g. for use in user-specific cycles, can be entered in the system variable.

The system variable is not evaluated in the NC. The values are, however, automatically

recalculated for an inch/metric switchover.

Syntax

$NT_AUX_POS[<n>,<k>] = <Value>

Meaning

$NT_AUX_POS:

User-specific position vector

Data type:

REAL

Default value:

(0.0, 0.0, 0.0)

<n>:

System variable or transformation index

Data type:

INT

Value range:

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

<k>:

Index of the vector coordinates

Data type:

INT

Range of values:

0: X coordinate (abscissa)

1: Y coordinate (ordinate)

2: Z coordinate (applicate)

<Value>:

Coordinate value

Data type:

REAL

Special functions

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Example

A position vector (1.0, 1.0, 1.0) is entered for the first transformation:

Program code

Comment

; 1st transformation,

; position vector:

N100 $NT_AUX_POS[1,0] = 1.0

; X coordinate (abscissa)

N110 $NT_AUX_POS[1,1] = 1.0

; Y coordinate (ordinate)

N120 $NT_AUX_POS[1,2] = 1.0

; Z coordinate (applicate)

9.2.4.18

$NT_IDENT

Function

Up to three user-specific numeric values, analogous to the system variable $TC_CARR37,

can be entered in the system variable as an identifier for the tool carrier or the current

transformation for program management. The system variable is not evaluated in the NC.

Syntax

$NT_IDENT[<n>,<k>] = <Value>

Meaning

$NT_IDENT:

User-specific administration data

Data type:

INT

Default value:

(0, 0, 0)

<n>:

System variable or transformation index

Data type:

INT

Value range:

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

<k>:

Index of the administration data

Data type:

INT

Range of values:

0, 1, 2

<Value>:

User-specific value

Data type:

INT

Special functions

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Example

The following administration data is entered for the first transformation: (1000, 100, 0)

Program code

Comment

; 1st transformation,

; position vector:

N100 $NT_AUX_POS[1,0] = 1000

; identifier: Toolholder

N110 $NT_AUX_POS[1,1] = 100

; identifier: Transformation

N120 $NT_AUX_POS[1,2] = 0

; -

9.2.4.19

$NT_CNTRL

Function

With this system variable, the behavior of the transformation in specific situations can be

influenced using bit code.

Bit

Value

Meaning

0

---

Not assigned

1 - 3

Orientation axes as speed-controlled spindles

Bit 1: 1st orientation axis

Bit 2: 2nd orientation axis

Bit 3: 3rd orientation axis

0

The orientation axis is operated as a speed-controlled axis.

1

The orientation axis is operated as a speed-controlled spindle.

Note

The following scenarios are currently supported:

● Only the 1st orientation axis (Bit 1 = 1) is operated as a speed-controlled spindle

● Only the 3rd orientation axis (Bit 3 = 1) is operated as a speed-controlled

spindle

Some examples are the applications "Turning on milling machines" or "5-axis mill-

ing", in which the third orientation axis is not operated with position control.

Special functions

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Bit

Value

Meaning

4 - 6

Orientation axes with Hirth joint

Bit 4: 1st orientation axis

Bit 5: 2nd orientation axis

Bit 6: 3rd orientation axis

0

The orientation axis is not Hirth-coupled.

1

The orientation axis is Hirth-coupled.

Note

● Parameters of the Hirth joint

The following machine data is evaluated for the parameters of the Hirth joint:

- MD30501 $MA_INDEX_AX_NUMERATOR

- MD30502 $MA_INDEX_AX_DENOMINATOR

- MD30503 $MA_INDEX_AX_OFFSET

MD30505 $MA_HIRTH_IS_ACTIVE is not evaluated. I.e. the axis does not

have to be parameterized as a genuine Hirth axis.

● Modulo rotary axes

For modulo rotary axes (MD30310 $MA_ROT_IS_MODULO==TRUE),

MD30330 $MA_MODULO_RANGE is evaluated instead of MD30501

$MA_INDEX_AX_NUMERATOR. The distances of the permitted axis positions

are then calculated for:

Distance = $MA_MODULO_RANGE / $MA_INDEX_AX_DENOMINATOR

MD30503 $MA_INDEX_AX_OFFSET is also evaluated for modulo rotary axes

7

An additional constant element of the type "OFFSET" is automatically NC-internally inserted

into the subchain for the workpiece reference point in such a way that the chain is closed.

0

The element connects the workpiece reference point to the machine zero point.

1

The element connects the end point of the element that is referenced by

$NT_CLOSE_CHAIN_P (Page 351) to the machine zero point.

8

An additional constant element of the type "OFFSET" is automatically NC-internally inserted

into the subchain for the tool reference point in such a way that the chain is closed.

0

The element connects the tool reference point to the machine zero point.

1

The element connects the end point of the element that is referenced by

$NT_CLOSE_CHAIN_T (Page 352) to the machine zero point.

9

The scope of functions of TRANSMIT or TRACYL transformations is specified more precise-

ly. If a center offset axis has been specified via $NT_ROT_AX_NAME, the behavior can be

set.

0

The center offset axis can be interpolated in any way and has no influence on the

transformation.

1

The center offset axis compensates the tool offset in the Y direction. Processing

up to the center of rotation is possible.

10

0

Parameterizes TRACYL without slot side offset.

1

Parameterizes TRACYL with slot side offset.

In connection with bit 9 = 1, you can set whether TRACYL is operated with or

without slot side offset upon activation of the transformation via TRAFOON. The

default setting is slot side offset active

If you are working with slot side offset, $NT_GEO_AX_NAME must contain a ref-

erence to a linear axis (slot side offset axis).

Special functions

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Bit

Value

Meaning

11

0

The direction of rotation of the pole axis remains unchanged.

1

The direction of rotation of the pole axis is inverted.

12 ... 15

Reserved for OEM transformations.

16 ... 18

Binary coding using bits 16, 17 and 18 (bits H10000 - H40000) defines how the

channel axes, which are entered in $NT_GEO_AX_NAME [n,1],

$NT_GEO_AX_NAME [n,2] and $NT_GEO_AX_NAME [n,3], are assigned to the

geometry axes. The geometry axis identifiers are assigned in the order (X, Y, Z).

Decimal

Order of the geometry axes

0

X

Y

Z

1

Z

X

Y

2

Y

Z

X

3

Z

Y

X

4

X

Z

Y

5

Y

X

Z

19

0

1

The last kinematic chain element, which defines the tool reference point, must be

a rotary axis. The rotation vector of the rotary axis then defines the Z direction of

the tool coordinate system. The rotation about the tool Z axis that is defined in this

way results from the corresponding definition for the local coordinate system of

an axis in kinematic chains.

If the system variable $NK_A_OFF of this chain element contains a value not equal

to zero, the tool coordinate system is also rotated about the coordinate axis with

this angle.

20

0

The sign of the axis for determining the tool coordinate system in the Z direction

is retained.

1

The sign of the axis for determining the tool coordinate system in the Z direction

is inverted if also bit 19 is set.

Syntax

$NT_CNTRL[<n>] = "<Value>"

Meaning

$NT_CNTRL:

Bit-coded control variable of the transformation ('Bdcbbbaaa0')

Data type:

INT

Default value:

0

<n>:

System variable or transformation index

Data type:

INT

Value range:

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

<Value>:

Bit-coded control value

Data type:

INT

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Example

The third orientation axis of the first transformation is Hirth-coupled.

Program code

Comment

N100 $NT_CNTRL[1] = 'B001000000'

; 1st transformation,

9.2.4.20

$NT_ROT_AX_CNT

Function

The system variable $NT_ROT_AX_CNT provides the number of the relevant rotary axes in the

workpiece or in the tool chain. The relevant rotary axes in this sense are the rotary axes that

are defined in the system variable $NT_ROT_AX_Name.

Syntax

$NT_ROT_AX_CNT[<n,m>] = <NumberRotAxes>

Meaning

$NT_ROT_AX_CN

Number of relevant rotary axes of a transformation in the workpiece chain or tool

T:

chain

Data type:

INT

Default value:

-1; content is not evaluated

<n>:

System variable or transformation index

Data type:

INT

Value range:

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

<m>:

Index of the variable $NT_ROT_AX_CNT; specifies which kinematic chain will be

selected.

Data type:

INT

Value range

●

0; selects the workpiece chain

●

1; selects the tool chain

Example

Provides the number of rotary axes for the subchain:

Program code

Comment

N100 $NT_ROT_AX_CNT[1,0] = 2

; Transformation 1 has two rotary axes.

Special functions

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9.2.4.21

$NT_BASE_TOOL_COMP

Function

Using bit-coded system variable $NT_BASE_TOOL_COMP, for each of the geometry axes you

can separately set whether for the base tool an offset is entered in transformation frame

$P_TRAFRAME. This means that when the transformation is selected, no change is made in

the WCS component.

This function is only available if system frame $P_TRAFRAME was configured using MD28082

$MC_MM_SYSTEM_FRAME_MASK bit6.

The system variable is only relevant for TRANSMIT and TRACYL.

Syntax

$NT_BASE_TOOL_COMP[<n>, <m>]

Meaning

$NT_BASE_TOOL_

Bit-coded system variable

COMP:

Data type:

INT

Default value:

<n>:

System variable or transformation index

Data type:

INT

Value range:

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

<m>:

Bits for coding the offset:

● Bit 0 acts in the direction of the X axis (geometry axis 1)

● Bit 1 acts in the direction of the Y axis (geometry axis 2)

● Bit 2 acts in the direction of the Z axis (geometry axis 3)

Data type:

INT

Example

The 2nd transformation is assigned the name "B axis":

Program code

Comment

N100 $NT_BASE_TOOL_COMP[n,0];

; Transformation "n" is compensated for

in the X-axis direction.

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9.2.5

Additive system variable for orientation transformation

9.2.5.1

Overview

System variable

Meaning

$NT_BASE_ORIENT

Basic tool orientation

$NT_BASE_ORIENT_NORMAL

Normal vector of the orientation

$NT_ROT_AX_POS

Axis positions of the orientation axes, which are parameterized as

constant rotations

$NT_POLE_LIMIT

End angle tolerance with interpolation through pole

$NT_POLE_TOL

End angle tolerance for pole interpolation

$NT_IGNORE_TOOL_ORIENT

Always take tool orientation from $NT_BASE_ORIENT /

$NT_BASE_ORIENT_NORMAL.

$NT_CORR_ELEM_T

Names of the correction elements in the tool chain that can be

written to by the CORRTRAFO(...) function.

$NT_CORR_ELEM_P

Names of the correction elements in the subchain that can be writ-

ten to by the CORRTRAFO(...) function.

The system variables are described in detail in the following sections.

Note

Element names

The system does not monitor as to whether the element names of the kinematic chain, which

are referenced to parameterize transformation, were allocated a multiple number of times. If

names such as these are available a multiple number of times, then the system data of the

transformation always refer to the corresponding element with the lowest index.

Establish a defined initial state

It is recommended that a defined initial state be generated before parameterizing the kinematic

chain. To do this, the system variables of the kinematic chain should be set to their default

value using function DELOBJ() (Page 215).

Change system variable values

Changes to system variable values of the transformation data $NT_... only become effective

when the NEWCONF machine data becomes effective. This can be done using the softkey

on the user interface in the operating area "Commissioning" > "Machine data " > "Set MD

active", in a program using the NEWCONF command or using a program end reset, channel

reset or a warm or cold restart.

9.2.5.2

$NT_BASE_ORIENT

Function

The rotation vector of the basic tool orientation must be entered in the system variable. The

basic tool orientation is in effect if no tool is selected.

Special functions

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Syntax

$NT_BASE_ORIENT[<n>,<k>] = <VectorComp>

Meaning

$NT_BASE_ORIENT:

Rotation vector of the basic tool orientation (X; Y; Z)

Data type:

REAL

Default value:

(0.0, 0.0, 1.0)

Value range:

Direction vector: 1*10^-6 < |Vector | ≤ max. REAL value

<n>:

System variable or transformation index

Data type:

INT

Value range:

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

<k>:

Index of the coordinates

Data type:

INT

Range of val-

0: X coordinate (abscissa)

ues:

1: Y coordinate (ordinate)

2: Z coordinate (applicate)

<VectorComp>:

Coordinate value of the vector component

Data type:

STRING

Example

The rotation vector of the basic tool orientation of the first transformation has the value (1.0,

2.0, 3.0):

Program code

Comment

; 1st transformation,

; vector components:

N100 $NT_BASE_ORIENT[1,0] = 1.0

; X coordinate (abscissa)

N110 $NT_BASE_ORIENT[1,1] = 2.0

; Y coordinate (ordinate)

N120 $NT_BASE_ORIENT[1,2] = 3.0

; Z coordinate (applicate)

9.2.5.3

$NT_BASE_ORIENT_NORMAL

Function

The normal vector of the basic tool orientation must be entered in the system variable. The

system variable or the normal vector of the basic tool orientation is only relevant for

transformations with three degrees of orientation freedom if no tool is selected.

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Syntax

$NT_BASE_ORIENT_NORMAL[<n>,<k>] = <VectorComp>

$NT_BASE_ORIENT_NORMA

Normal vector of the basic tool orientation (X; Y; Z)

L:

Data type:

REAL

Default value:

(0.0, 1.0, 0.0)

Value range:

Normal vector: 1*10^-6 < |Vector | ≤ max. REAL value

<n>:

System variable or transformation index

Data type:

INT

Value range:

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

<k>:

Index of the coordinates

Data type:

INT

Range of val-

0: X coordinate (abscissa)

ues:

1: Y coordinate (ordinate)

2: Z coordinate (applicate)

<VectorComp>:

Coordinate value of the vector component

Data type:

STRING

Example

The normal vector of the basic tool orientation of the first transformation has the value (2.0,

-1.0, 3.0):

Program code

Comment

; 1st transformation,

; vector components:

N100 $NT_BASE_ORIENT_NORMAL[1,0] =

2.0

; X coordinate (abscissa)

N110 $NT_BASE_ORIENT_NORMAL[1,1] = -1.0

; Y coordinate (ordinate)

N120 $NT_BASE_ORIENT_NORMAL[1,2] =

3.0

; Z coordinate (applicate)

9.2.5.4

$NT_ROT_AX_POS

Function

The positions of the orientation axes, which result from the constant rotations which are

parameterized in elements of the kinematic chain of the type ROT_CONST (Page 209), must

be entered in the system variable. The positions of the orientation axes that are effective due

to this element can thus be described without having to know the kinematic structure of the

transformation or the indices of the associated kinematic elements.

Syntax

$NT_ROT_AX_POS[<n>,<k>] = <OriAxPos>

Special functions

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Meaning

$NT_ROT_AX_POS:

Positions of the orientation axes due to the constant rotation

Data type:

REAL

Default value:

(0.0, 0.0, 0.0)

Value range:

- max. REAL value ≤ x ≤ + max. REAL value

<n>:

System variable or transformation index

Data type:

INT

Value range:

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

<k>:

Index of the orientation axes

Data type:

INT

Value range:

0: 1st orientation axis

1: 2nd orientation axis

2: 3rd orientation axis

<OriAxPos>:

Position value

Data type:

REAL

Example

The positions of the orientation axes, which result from the parameterized constant rotation,

are: (0, 0, 45.0°)

Program code

Comment

; 1st transformation,

; positions of the orientation axes:

N100 $NT_ROT_AX_POS[1,0] =

0

; 1st orientation axis

N110 $NT_ROT_AX_POS[1,1] =

0

; 2nd orientation axis

N120 $NT_ROT_AX_POS[1,2] = 45.0

; 3rd orientation axis

9.2.5.5

$NT_POLE_LIMIT

Function

The maximum permitted angle by which the C axis can deviate from its programmed position

during a large circle interpolation at the end of a block is entered in the system variable.

End angle

In the 5-axis transformation, the two orientation axes of the tool span a spherical coordinate

system, consisting of meridians and parallels.

If a traversing movement is programmed that is not to pass exactly through the pole, but within

the area near to the pole defined by MD 24530 ($MC_TRAFO5_NON_POLE_LIMIT_n), the

movement will deviate from the specified path because the interpolation runs exactly through

the pole point. As a result, the position at the end point of the fourth axis (pole axis) deviates

from the programmed value.

The system variable specifies the angle by which the pole axis for the 5-axis transformation

can deviate from the programmed value if there is a switchover from the programmed

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interpolation to the interpolation through the pole point.

If a large deviation results, an error message is displayed (Alarm 14112) and the interpolation

is not carried out.

For a conventional 5 or 6-axis interpolation, a pole position is identified by the fact that the tool

orientation does not change during a rotation of a rotary axis. If a programmed path then runs

in the vicinity of the pole, extremely high traversing speeds can result for individual rotary axes

to maintain the orientation. If the programmed path runs exactly through the pole, this problem

may not arise under certain circumstances.

A pole angle, which defines a tolerance circle about the pole, can be parameterized in the

system variables. If a programmed tool path passes by the pole within the tolerance circle, a

switchover is made from orientation interpolation to linear/rotary axis interpolation.

&

6

(

˞

(

˖

$

①

Pole

②

Equatorial plane

③

Programmed path

④

Path traveled through the pole

⑤

End angle

A

Rotary axis about the X coordinate axis of the WCS

C

Rotary axis about the Z coordinate axis of the WCS

S

Starting point of the interpolation / traversing block

E

Approached end point

E'

Programmed end point

α

End angle

Ω

Maximum permitted end angle ($NT_POLE_LIMIT)

Syntax

$NT_POLE_LIMIT[<n>] = <PoleTolAngle>

Special functions

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Meaning

$NT_POLE_LIMIT:

Pole angle

Unit:

Degrees

Data type:

REAL

Default value:

2.0

Value range:

- max. REAL value ≤ x ≤ + max. REAL value

<n>:

System variable or transformation index

Data type:

INT

Range of val-

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

ues:

<PoleTolAngle>:

Tolerance value

Data type:

REAL

Example

A pole angle of 2.54° is set for the first transformation:

Program code

Comment

N100 $NT_POLE_LIMIT[1] = 2.54

; 1st transformation,

; pole angle

9.2.5.6

$NT_POLE_TOL

Function

The end angle tolerance for interpolation through the pole for the first 5/6-axis transformation

must be entered in the system variable.

The system variable is only evaluated by the generic 5/6-axis transformation.

If the programmed end orientation lies within the polar cone and within the tolerance cone

specified by this MD, the pole axis does not move and retains its start positions. In contrast,

the other rotary axis accepts the programmed angle.

As a result, there is a deviation of the end orientation from the programmed orientation.

Another meaning of this system variable is the handling of the programmed end orientation

for non-perpendicular kinematics. As a rule, not all of the tool orientations can be set for these

machine kinematics. If an orientation that lies outside of the settable range is programmed,

alarm 14112 "Programmed orientation path not possible" is displayed.

Syntax

$NT_POLE_TOL[<n>] = <PoleTolLim>

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Meaning

$NT_POLE_TOL:

End angle tolerance for pole interpolation

Data type:

REAL

Default value:

0.0

Value range:

0.0 ≤ x ≤ 45.0

<n>:

System variable or transformation index

Data type:

INT

Value range:

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

<PoleTolLim>:

Angle

Data type:

REAL

Example

An end angle tolerance of 2.54° is defined for the first transformation:

Program code

Comment

N100 $NT_POLE_TOL[1] = 2.54

; 1st transformation,

; end angle tolerance

9.2.5.7

$NT_IGNORE_TOOL_ORIENT

Function

Each tool that is known in the controller has a defined orientation. This tool orientation is

normally used as the basis for the calculations of the movements of the orientation axes. The

system variable can be used to define a situation in which, even with a tool active, it is not the

tool orientation, but the orientation parameterized in the system variables

$NT_BASE_ORIENT (Page 362) and $NT_BASE_ORIENT_NORMAL (Page 363) that is used

for the calculations of the movements of the orientation axes.

Syntax

$NT_IGNORE_TOOL_ORIENT[<n>] = <Value>

Meaning

$NT_IGNORE_TOOL_ORIEN

Switchover to the orientation parameterized in the system variables

T:

$NT_BASE_ORIENT and $NT_BASE_ORIENT_NORMAL for calculat-

ing the movements of the orientation axes

Data type:

BOOL

Default value:

FALSE

<n>:

System variable or transformation index

Data type:

INT

Range of val-

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

ues:

Special functions

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<Value>:

Value

Data type:

BOOL

Example

For the first transformation, the orientation parameterized in the system variables

$NT_BASE_ORIENT and $NT_BASE_ORIENT_NORMAL for calculating the movements of

the orientation axes is activated:

Program code

Comment

N100 $NT_IGNORE_TOOL_ORIENT[1] = TRUE

; 1st transformation,

; orientation as per system variables

9.2.5.8

$NT_CORR_ELEM_T

Function

This system data is used to reference a maximum of 4 constant chain elements ($NK_NAME)

in the tool chain, which are provided for accepting offset values (linear offsets), as they are

determined in measurement cycles, for example. The offset values are calculated by the

function CORRTRAFO (Page 374). This is only important for orientation transformations.

There must always be an orientation axis in the kinematic chain between two of these elements.

This means that all 4 chain elements can only be occupied for 6-axis transformations in which

all 3 orientation axes are defined in the tool chain; whereas, for 5-axis transformations, for

example, this system data can only contain a maximum of three entries.

The entire kinematic chain, from the machine zero point (reference point of the kinematic chain)

to the tool holder, is divided into a maximum of 4 sections by the orientation axes. There can

be a maximum of one correction element in each of these sections. The correction element

with the index n must be located in the nth section (example: $NT_CORR_ELEM_T[k, 1] must

refer to a chain element between the first and second orientation axis of the tool chain).

Syntax

$NT_CORR_ELEM_T[<n>, <k>] = "<CORR_TElementName>"

Meaning

$NT_CORR_ELEM_T:

Names of the elements of the kinematic chain currently in effect.

Data type:

STRING

Default value:

""

Value range:

Element names of the currently active kinematic chain

<n>:

System variable or transformation index

Data type:

INT

Value range:

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

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<k>:

Position in the kinematic tool chain

Data type:

INT

Value range:

0...3

<CORR_TElementName>:

Name of an element of the kinematic chain that is currently in effect,

which accepts an offset value (linear offset).

Data type:

STRING

Example

Defines an correction element in the tool chain that is used to include offset values.

Program code

Comment

$NT_CORR_ELEM_T(1,2) = Corr_1;

Refers to a correction element in the tool

chain of transformation "1" and position "2".

9.2.5.9

$NT_CORR_ELEM_P

Function

This system data is used to reference a maximum of 4 constant chain elements ($NK_NAME)

in the part chain, which are provided for accepting offset values (linear offsets), as they are

determined in measurement cycles, for example. The offset values are calculated by the

function CORRTRAFO (Page 374). This is only important for orientation transformations.

There must always be an orientation axis in the kinematic chain between two of these elements.

This means that all 4 chain elements can only be occupied for 6-axis transformations in which

all 3 orientation axes are defined in the tool chain; whereas, for 5-axis transformations, for

example, this system data can only contain a maximum of three entries.

The entire kinematic chain, from the machine zero point (reference point of the kinematic chain)

to the workpiece center point (part), is divided into a maximum of 4 sections by the orientation

axes. There can be a maximum of one correction element in each of these sections. The

correction element with the index n must be located in the nth section (example:

$NT_CORR_ELEM_T[k, 1] must refer to a chain element between the first and second

orientation axis of the part chain).

Syntax

$NT_CORR_ELEM_P[<n>,<m>,<k>] = "<CORR_PElementName>"

Meaning

$NT_CORR_ELEM_P:

Names of the elements of the kinematic chain currently in effect.

Data type:

STRING

Default value:

""

Value range:

Element names of the currently active kinematic chain

Special functions

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<n>:

System variable or transformation index

Data type:

INT

Value range:

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)

<k>:

Position in the kinematic tool chain

Data type:

INT

Value range:

0...3

<CORR_PElementName>:

Name of an element of the kinematic chain that is currently in effect, which

accepts an offset value (linear offset).

Data type:

STRING

Example

Defines an correction element in the workpiece chain that is used to accept offset values.

Program code

Comment

$NT_CORR_ELEM_P(1,2) = Corr_1

Refers to a correction element in the work-

piece chain of transformation "1" and posi-

tion "2".

9.2.6

Additive system variable for face transformation (TRANSMIT)

9.2.6.1

Overview

System variable

Meaning

$NT_POLE_SIDE_FIX

Limitation of the working area before and after the pole

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The system variables are described in detail in the following sections.

Note

Element names

The system does not monitor as to whether the element names of the kinematic chain, which

are referenced to parameterize transformation, were allocated a multiple number of times. If

names such as these are available a multiple number of times, then the system data of the

transformation always refer to the corresponding element with the lowest index.

Establish a defined initial state

It is recommended that a defined initial state be generated before parameterizing the kinematic

chain. To do this, the system variables of the kinematic chain should be set to their default

value using function DELOBJ() (Page 215).

Change system variable values

Changes to system variable values of the transformation data $NT_... only become effective

when the NEWCONF machine data becomes effective. This can be done using the softkey

on the user interface in the operating area "Commissioning" > "Machine data " > "Set MD

active", in a program using the NEWCONF command or using a program end reset, channel

reset or a warm or cold restart.

9.2.6.2

$NT_POLE_SIDE_FIX

Function

Using the system variable, the limitation of the work area must be set before and after the pole.

Syntax

$NT_POLE_SIDE_FIX[<n>] = <POLESIDEFIX>

Meaning

$NT_POLE_SIDE_FIX:

Names of the elements of the kinematic chain currently in effect, which

define the rotary axes

Data type:

INT

Default value:

""

Value range:

Element names of the currently active kinematic

chain

<n>:

System variable or transformation index

Data type:

INT

Range of values:

1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS -

1)

Special functions

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<PoleSIDEFIX>:

Limiting the work area:

●

0 = no limitation; traversing through the pole is allowed.

●

1 = work area of the linear axis for positions ≥ 0 (if tool length offset

is parallel to linear axis = 0).

●

2 = work area of the linear axis for positions ≤ 0 (if tool length offset

is parallel to linear axis = 0).

Data type:

STRING

Example

For the first transformation, the names of the elements of the kinematic chain currently in effect,

which define the rotary axes, are "ROT_AXIS_1", ROT_AXIS_2" and "ROT_AXIS_3".

Program code

Comment

; 1st transformation,

; elements of the rotary axes:

N100 $NT_ROT_AX_NAME[1,0] = "ROT_AXIS_1"

; 1st rotary axis

N110 $NT_ROT_AX_NAME[1,1] = "ROT_AXIS_2"

; 2nd rotary axis

N120 $NT_ROT_AX_NAME[1,2] = "ROT_AXIS_3"

; 3rd rotary axis

9.3

Programming

9.3.1

Activating a transformation (TRAFOON)

A transformation defined with kinematic chains is activated with the predefined TRAFOON

procedure. The call must be alone in a block.

Note

Alternatively, a transformation defined with kinematic chains can also be activated via

conventional NC commands, such as TRAORI or TRANSMIT. For this purpose, an appropriate

value, not equal to zero, must be entered in the $NT_TRAFO_INDEX system variable.

For further information on $NT_TRAFO_INDEX see "System Variables List Manual".

Syntax

TRAFOON(<Trafoname>,<Diameter>,<k>)

Special functions

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K12 transformation definitions with kinematic chains

9.3 Programming

Meaning

TRAFOON:

Procedure for activating a transformation defined with kinematic chains

<Trafoname>:

Name of the transformation data set

Data type:

STRING

Range of val-

All names of transformation data sets defined via $NK_NAME

ues:

(Page 339)

Note:

The name of the transformation data set must be unique. It must only occur once

in $NT_NAME.

<Diameter>:

Reference or working diameter (TRACYL only)

Data type:

REAL

The value must be > 1.

<k>:

Defines the use of the groove side offset (TRACYL only).

Data type:

BOOL

Value:

FALSE

Without groove side offset

TRUE

With groove side offset

Corresponds to the TRACYL transformation type 514 (groove side offset can be

programmed). If <k> is not specified, the parameterized setting of bit 10 in

$NT_CNTRL[<n>] applies.

Example

Program code

Comment

TRAFOON["Trans_1"]

Activates the transformation with the name Trans_1.

9.3.2

Modifying the orientation transformation after the machine measurement

(CORRTRAFO)

For machines with orientation transformations that were defined by means of kinematic chains,

the user can use the predefined CORRTRAFO function in order to modify the offset vectors

or the direction vectors of the orientation axes in the kinematic model of the machine after a

machine measurement.

Syntax

<Corr_Status> = CORRTRAFO(<Corr_Vect>, <Corr_Index>, <Corr_Mode>,

[ <No_Alarm>])

Special functions

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K12 transformation definitions with kinematic chains

9.3 Programming

Meaning

CORRTRAFO:

Function call

<Corr_Status>:

Function return value

Data type:

INT

Values:

0

The function was executed without an error.

1

No transformation is active.

2

The currently active transformation is not an orientation trans-

formation.

3

The active orientation transformation was not defined with kin-

ematic chains.

10

The <Corr_Index> call parameter is negative.

11

The <Corr_Mode> call parameter is negative.

12

Invalid reference to a section of a subchain (unit position of

<Corr_Index>). The value must not be greater than the num-

ber of orientation axes in the subchain.

13

Invalid reference to the orientation axis of a subchain (unit po-

sition of <Corr_Index>). The value must be less than the

number of orientation axes in the subchain.

14

Invalid reference to a subchain (tens position of

<Corr_Index>). Only the values 0 and 1 are permissible (ref-

erence to part or tool chain). This error number occurs if the

subchain to which <Corr_Index> refers does not exist.

15

There is no correction element in the section referred to with

the <Corr_Index> parameter ($NT_CORR_ELEM_P or

$NT_CORR_ELEM_T).

20

Invalid correction mode (unit position of <Corr_Mode>). Only

the values 0 and 1 are permissible.

21

Invalid correction mode (tens and/or hundreds position of

<Corr_Mode>). Only the unit position can be not equal to zero

when writing an axis direction.

30

The hundreds position of <Corr_Mode> is invalid. Only the

values 0 and 1 are permissible.

31

The thousands position of <Corr_Mode> is invalid. Only the

values 0 and 1 are permissible.

40

The direction vector that is to be taken as axis direction is the

zero vector. This error can only happen if the thousands posi-

tion of <Corr_Mode> is equal to 0. If the thousands position

of this parameter is equal to 1 (monitoring of the maximum

correction deactivated), the zero vector can also be written.

Special functions

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K12 transformation definitions with kinematic chains

9.3 Programming

41

For the correction of an offset vector, the difference to the cur-

rent value in at least one coordinate is greater than the maxi-

mum value specified by the setting data SD41610

$SN_CORR_TRAFO_LIN_MAX. The <Corr_Vect> parame-

ter will be overwritten by an error vector. This also applies when

the processing is aborted with alarm (see <No_Alarm> pa-

rameter).

In the components whose correction value has exceeded the

permissible limit, the error vector has the difference, with the

correct sign, between the determined correction value and the

limit.

The content of the components that have not exceeded their

limit is zero.

42

For the correction of a direction vector, the angular displace-

ment compared to the current direction is greater than the

maximum value specified by the setting data SD41611

$SN_CORR_TRAFO_DIR_MAX.

43

The attempt to write a system variable was rejected because

of missing write rights.

<Corr_Vect>:

Correction vector

The content of the correction vector is defined by the following parameters

<Corr_Index> and <Corr_Mode>.

If <Corr_Status> = 41, the content of the vector is overwritten (see above).

Data type:

REAL

<Corr_Index>:

Section whose correction element is to be modified /

index of the orientation axis whose direction vector is to be modified

Data type:

INT

The <Corr_Index> parameter is decimal coded (unit to tens position):

Unit

Contains the index of the section or the orientation axis in the sub-

position:

chain.

Tens

Refers to the subchain.

position:

0x

Workpiece chain

1x

Tool chain

Special functions

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K12 transformation definitions with kinematic chains

9.3 Programming

<Corr_Mode>:

Correction mode

Data type:

INT

The <Corr_Index> parameter is decimal coded (unit to thousands position):

Unit

Specifies which element is to be corrected.

position:

xxx0

Correction of a linear offset vector

xxx1

Correction of the direction vector of an orientation axis

Tens

Specifies how the correction element to which the content of

position:

<Corr_Index> refers, is to be modified.

xx0x

The correction vector is written immediately to the correc-

tion element.

This variant can be used to immediately write the correction

element without the index <n> of the relevant system data

($NK_OFF_DIR[<n>, ...]) having to be known.

xx1x

As 0, but with the difference that the transferred correction

value is interpreted in world coordinates.

A difference between variants 0 and 1 can always occur

when the kinematic chain in the initial state (positions of all

orientation axes equal to 0) contains other rotations.

xx2x

As 1, but with the difference that the correction value refers

to the entire section, i.e. a value is entered in the correction

element so that the entire section reaches the length de-

fined by the correction value.

Note:

The values 1 and 2 are not permissible when writing the direction

vector of an orientation axis.

Hundreds

Specifies how the content of the <Corr_Vect> parameter is to be

position:

interpreted.

x0xx

The transferred correction vector <Corr_Vect> contains

the entire new length of the correction element or the sec-

tion to which the <Corr_Index> in conjunction with the

tens position of <Corr_Mode> refers (absolute correction).

x1xx

The transferred correction vector <Corr_Vect> only con-

tains the difference compared to the current length of the

correction element or the section to which the

<Corr_Index> in conjunction with the tens position of

<Corr_Mode> refers (incremental correction).

Note:

For the correction of the direction vector of an orientation axis, the

content of the hundreds position must be 0.

Thou-

Specifies whether the correction is to be limited by the following

sands

maximum value:

position:

● SD41610 $SN_CORR_TRAFO_LIN_MAX (Page 336)

or

● SD41611 $SN_CORR_TRAFO_DIR_MAX (Page 336)

0xxx

Monitoring of the maximum correction is active.

1xxx

Monitoring of the maximum correction is not active.

Special functions

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K12 transformation definitions with kinematic chains

9.3 Programming

<No_Alarm>:

Behavior in the event of an error (return value > 0) (optional)

Data type:

BOOL

Value:

FALSE

In the event of an error, the program processing is stop-

(default)

ped and alarm 14103 is displayed.

TRUE

In the event of an error, the program processing is not

stopped and no alarm is displayed.

Application: User-specific reaction corresponding to the

return value

Note

In the event of an error when the function is called, either an alarm is output or an error number

returned (see <No_Alarm> parameter), so that the user can respond in a suitable way to the

error state. The cause of the error is described in more detail through an alarm parameter. An

error number returned instead of an alarm is identical to the alarm parameter.

See also

Angular deviation for rotation vectors for CORRTRAFO (Page 336)

Further information on CORRTRAFO

The kinematic structure of a machine with orientation transformation is described by one or

two kinematic chains (subchains), starting from the zero point of the world coordinate system.

One of the two chains, the tool chain, ends at the reference point of the tool, the other chain,

the workpiece chain ends in the zero point of the basic coordinate system.

The CORRTRAFO function writes lever arm lengths and axis directions on machines with an

orientation transformation in special correction elements. A kinematic chain is described, for

example, with elements of the type OFFSET, which are defined via $ NK_TYPE.

CORRTRAFO works with sections

The two subchains can each be divided into a maximum of four sections:

● Section 1 begins at the starting point of the chain and ends at the first orientation axis.

● Section 2 is the section between orientation axis 1 and orientation axis 2.

● Section 3 is the section between orientation axis 2 and orientation axis 3.

● Section 4 is the section between orientation axis 3 and the end of the tool or workpiece

chain.

Each section may contain constant chain elements of the type OFFSET or ROT_CONST.

The following figure shows an orientation transformation with 2 orientation axes.

Special functions

378

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K12 transformation definitions with kinematic chains

9.3 Programming

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CORRTRAFO example

The sections are clearly defined: If you run through the kinematic subchain from the starting

point to the end point, the first section has the index 0, the next the index 1, and so on. The

index of the last section is then always equal to the number of orientation axes.

Correction elements

A reference can be made to a constant kinematic chain element (chain element of the type

$NK_TYPE[<n>] = "OFFSET") in each section with the $NT_CORR_ELEM_T[<n>, 0 ... 3] or

$NT_CORR_ELEM_P[<n>, 0 ... 3] system variables. The correction values that were

determined during the machine measurement are written to these elements with the

CORRTRAFO function.

Example with transformation index = 1:

● $NT_CORR_ELEM_T[1,0] = "C_AXIS_OFFSET"; Offset of the C axis (orientation axis 1)

in section 1 is defined as correction element.

● $NT_CORR_ELEM_T[1,1] = "B_AXIS_OFFSET"; Offset of the B axis (orientation axis 2) in

section 2 is defined as correction element.

● $NT_CORR_ELEM_T[1,2] = "BASE_TOOL_OFFSET"; Offset of the B axis from the tool

reference point in section 3 is defined as correction element.

The sequence of the references in $NT_CORR_ELEM_T/P[<n>, 0 ... 3] must correspond to

the sections described above, i.e. only one chain element can be in $NT_CORR_ELEM_T/P

[<n>, 0] which is before the first orientation axis, etc.

The CORRTRAFO function writes the values determined by measuring the machine into the

correction elements defined in this way. The modification of the correction values is defined

in CORRTRAFO via the <Corr_Mode> parameter.

Special functions

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379

K12 transformation definitions with kinematic chains

9.4 Examples

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Example kinematics for dynamic orientation transformation

The kinematics is created in several steps:

● The two root elements of the kinematic chain are defined:

- $NK_NEXT\[KIE_CNTR] = "X axis"; chain points to the tool reference point.

- $NK_PARALLEL\[KIE_CNTR] = "Table offset"; chain points to the workpiece

reference point.

● The three mutually perpendicular linear axes X, Y and Z are defined starting from the zero

point of the world coordinate system.

- In the rotation vectors $NK_OFF_DIR, which define the axis directions, only the

individual component that is not equal to zero is described. All of the linear axes have

their origin in the same point, because no constant elements are defined between the

individual axes and no zero point offsets have been specified for the axes either.

● The C axis offset is a constant element, which defines the distance between the linear axes

X, Y, Z and the first rotary axis (C axis). The C axis is a rotary axis which points in the Z

direction.

● The B axis offset is a constant element, to which the B axis connects.

● The conclusion is formed by the constant offset "Basetool".

● The kinematic chain to the workpiece reference point is formed by the constant element

"Table offset" of the type Offset.

Special functions

382

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M3: Coupled axes

10.1 Coupled motion

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Figure 10-1

Application example: Two-sided machining

Multiple couplings

Up to 2 leading axes can be assigned to one coupled motion axis. The traversing movement

of the coupled motion axis then results from the sum of the traversing movements of the leading

axes.

Dependent coupled motion axis

A coupled motion axis is a "dependent coupled motion axis" when it traverses as a result of a

leading axis movement.

Independent coupled motion axis

A coupled motion axis is an "independent coupled motion axis" when it traverses as a result

of a direct traverse instruction. The traversing movement resulting from the coupled motion

axis is then the sum total of the traversing movements as a "dependent" and an "independent"

coupled motion axis.

Coupled motion axis as leading axis

A coupled motion axis can at the same time be the leading axis of a further coupled axis

grouping.

Coordinate system

Coupled axis motion is always executed in the base coordinate system (BCS).

Special functions

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399

M3: Coupled axes

10.1 Coupled motion

Distance-to-go: Coupled motion axis

The distance-to-go of a coupled motion axis refers to the total residual distance to be traversed

from dependent and independent traversing.

Delete distance-to-go: Coupled motion axis

Delete distance-to-go for a coupled motion axis only results in aborting of the independent

traversing movement of the leading axis.

Response to NC Start

The behavior of the coupled-axis groupings during NC Start depends on the setting in the

machine data:

MD20112 $MC_START_MODE_MASK (definition of initial control settings for NC-START)

Bit

Value

Meaning

8

0

Coupled-axis groupings are maintained in NC Start.

1

Coupled-axis groupings are phased out in NC Start.

Response to RESET/part program end

The behavior of the coupled-axis groupings during RESET/ part program end depends on the

setting in the machine data:

MD20110 $MC_RESET_MODE_MASK (definition of initial control settings after RESET / TP

end)

Bit

Value

Meaning

8

0

Coupled-axis groupings are invalidated on RESET / part program end.

1

Coupled-axis groupings remain active even beyond RESET/part program end.

Note

If with NC RESET or end of part program in a channel, the leading axis is not stopped as well

(cross-channel coupling, command axis, PLC axis, etc.), the requested RESET cannot be

completed.

Because of traversing of the leading axis, the coupled-motion axis is still active for the channel

in which the RESET is requested. With suitable actions (NC RESET in the channel of the

leading axis, stopping of the command or PLC axis), the leading axis must also be stopped in

parallel to the coupled-motion axis.

Special functions

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401

M3: Coupled axes

10.1 Coupled motion

Leading axis

When a coupled axis grouping is active, the interface signals (IS) of the leading axis are applied

to the appropriate coupled motion axis via the axis coupling, i.e.

● A position offset or feed control action of the leading axis is applied via the coupling factor

to effect an appropriate position offset or feed control action in the coupled motion axis.

● Shutdown of the leading axis as the result of an interface signal (e.g. axis-specific feed

stop, axis inhibit, servo enable, etc.) causes the corresponding coupled motion axis to shut

down.

Position measuring system 1/2 (DB31, ... DBX1.5/1.6))

Switch-over of the position measuring system for the leading and coupled motion axes is not

inhibited for an active coupled axis grouping. The coupling is not canceled.

Recommendation: Switch-over when the coupling is deactivated.

Tracking (DB31, ... DBX1.4)

Activation of tracking for an axis is done via the PLC program by setting the following NC/PLC

interface signals:

DB31, ... DBX2.1 = 0 (control system enable)

DB31, ... DBX1.4 == 1 (tracking mode)

When activating tracking mode for a coupled axis grouping, the specified NC/PLC interface

signals must be set simultaneously for all axes (master and slave axes) of the coupled axis

group.

If tracking mode is activated for the master axis only, a permanent offset results within the

coupling.

Whether and which axis is a leading or a following axis can be seen from the following NC/

PLC interface signals and system variables:

DB31, ... DBX99.0 (leading axis/spindel active)

DB31, ... DBX99.1 (following axis/spindel active)

$AA_COUP_ACT[axis name] (see: Status of coupling)

10.1.5

Status of coupling

The coupling status of an axis can be determined using the following system variables:

$AA_COUP_ACT [axis name]

Value

Meaning

0

No coupling active

1, 2, 3

Tangential tracking

4

Synchronous spindle coupling

8

Coupled motion active

Special functions

404

Function Manual, 12/2018, A5E40874099B AB

M3: Coupled axes

10.1 Coupled motion

Value

Meaning

16

Master value coupling

32

Following axis of electronic gearbox

Note

Only one coupling mode may be active at any given time.

10.1.6

Dynamics limit

The dynamics limit is dependent on the type of activation of the coupled axis grouping:

● Activation in part program

If activation is performed in the part program and all leading axes are active as program

axes in the activating channel, the dynamic response of all coupled-motion axes is taken

into account during traversing of the leading axes to avoid overloading the coupled-motion

axes.

If activation in part program takes place with leading axes that are not active as program

axes in the activating channel ($AA_TYP ≠ 1), then the dynamics of the coupled motion

axes is not considered while traversing the leading axes. This can result in an overload for

coupled motion axes with a dynamic response which is less than that required for the

coupling.

● Activation in synchronized action

If activation is performed in a synchronous action, dynamics of the coupled motion axes is

not taken into account during traversing of the leading axis. This can result in an overload

for coupled motion axes with a dynamic response which is less than that required for the

coupling.

CAUTION

Axis overload

If a coupled motion grouping

● in synchronized actions

● is activated in the part program with leading axes, that are not program axes in the

channel of the coupled motion axes,

it is the special responsibility of the user/machine manufacturer to provide suitable

measures to ensure that an overload of the coupled motion axes does not occur through

traversing of the leading axis.

Special functions

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405

M3: Coupled axes

10.1 Coupled motion

10.1.7

Supplementary conditions

Control system dynamics

It is recommended to align the position control parameters of the leading axis and the coupled

motion axis within a coupled axis group.

Note

Alignment of the position control parameters of the leading axis and the coupled motion axis

can be performed via a parameter set changeover.

10.1.8

Examples

Application Example: Two-sided machining

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Example 1

Example of an NC part program for the axis constellation shown in Fig.:

Program code

Comment

TRAILON(V,Y,1)

; Activation of 1st coupled axis group

TRAILON(W,Z,-1)

; Activation of 2nd coupled axis group

Special functions

406

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