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

TE3: Speed/torque coupling, master-slave

19.9 Examples

Preconditions

● One configured master axis

MD37250 $MA_MS_ASSIGN_MASTER_SPEED_CMD ≠ 0

● Activation of a master-slave coupling via

MD37262 $MA_MS_COUPLING_ALWAYS_ACTIVE=0

● The coupling is open.

Typical sequence of operations

Action

Effect/comment

● Approach coupling position

Each axis moves to the coupling position.

● Close coupling mechanically

Both axes are mechanically coupled to one anoth-

er.

● Request to close the coupling

PLC interface signal "Master/slave on" DB32, ...

DBX24.7 is set.

● Read back coupling state

When the axis is at a standstill, the coupled slave

axis sets PLC interface signal "Master/slave ac-

tive" DB32, ... DBX96.7 and clears "Position con-

troller active" DB32, ... DBX61.5.

Wait for checkback signal.

● Moving the master-slave group

The master axis is moved.

19.9.3

Closing/separating the coupling via the part program for the SINUMERIK 840D

This application allows you to close or separate a master-slave coupling between the machine

axes AX1=Master axis and AX2=Slave via the part program.

Preconditions

● A configured master axis MD37250 0 0.

● Not a static master-slave coupling:

MD37262 $MA_MS_COUPLING_ALWAYS_ACTIVE= 0

● The coupling is open.

Parts program

Program code

Comment

N10 G0 AX1=0 AX2=0

; Approach the coupling position on an axis-for-axis basis

N20 MASLON (AX2)

; (mechanically connect the axes)

; Close the coupling.

N30 AX1=100

; Move the master-slave group using the master axis.

Special functions

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19.9 Examples

Program code

Comment

N40 MASLOF (AX2)

; Open the coupling.

; (Mechanically separate the axes)

N50 AX1=200 AX2=200

; Move the axes separately.

N60 M30

19.9.4

Release the mechanical brake

This application allows implementation of a brake control for machine axes AX1=Master axis

and AX2=Slave axis in a master-slave coupling.

Preconditions

● Master-slave coupling is configured.

● Axes are stationary.

● No servo enable signals.

Typical sequence of operations

Action

Effect/comment

● Request to close the coupling

The following PLC interface signal is set:

DB31, ... DBX24.7 (Master/Slave ON)

● Set controller enable

PLC interface signal "Servo enable" DB31, ...

DBX2.1 is set for both axes.

● Interpreting the feedback

Link PLC interface signals of the master axis using

AND:

DB31, ... DBX61.7 (current controller active)

DB31, ... DBX61.6 (speed controller active)

DB31, ... DBX61.5 (position controller active)

Link PLC interface signals of the saster axis using

AND:

DB31, ... DBX61.7 (current controller active)

DB31, ... DBX61.6 (speed controller active)

DB31, ... DBX96.7 (master/slave active)

● Release brakes

If the result of the AND operations on the master

and slave axes is ≠ 0, the brake may be released.

Special functions

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19.10 Data lists

19.10

Data lists

19.10.1

Machine data

19.10.1.1

Axis/spindlespecific machine data

Number

Identifier: $MA_

Description

37250

MS_ASSIGN_MASTER_SPEED_CMD

Leading axis for speed setpoint coupling

37252

MS_ASSIGN_MASTER_TORQUE_CTR

Leading axis for torque distribution

37254

MS_TORQUE_CTRL_MODE

Connection of torque control output

37255

MS_TORQUE_CTRL_ACTIVATION

Activate torque compensatory control

37256

MS_TORQUE_CTRL_P_GAIN

Gain factor of torque compensatory controller

37258

MS_TORQUE_CTRL_I_TIME

Reset time for torque compensatory controller

37260

MS_MAX_CTRL_VELO

Limitation of torque compensatory control

37262

MS_COUPLING_ALWAYS_ACTIVE

Permanent master-slave coupling

37263

MS_SPIND_COUPLING_MODE

Coupling characteristics of a spindle

37264

MS_TENSION_TORQUE

Master-slave tension torque

37268

MS_TORQUE_WEIGHT_SLAVE

Torque weighting of the slave axis

37270

MS_VELO_TOL_COARSE

Master-slave velocity tolerance "coarse"

37272

MS_VELO_TOL_FINE

Master-slave velocity tolerance "fine"

37274

MS_MOTION_DIR_REVERSE

Invert master-slave direction of travel

19.10.2

System variables

After a block search, the coupling status and associated axis positions can be adjusted

subsequently by means of a system ASUB (asynchronous subroutine) "PROGEVENT.SPF".

System variables $P_SEARCH_MASL_C, $P_SEARCH_MASL_D and $AA_MASL_STAT are

available for this purpose; they can be used to alter the positional offset between the coupled

axes and the coupling status:

Identifier

Meaning

$P_SEARCH_MASLC[following axis name]

This variable registers a change in the coupling state during the

SERUPRO block search.

$P_SEARCH_MASLD[following axis name]

This variable indicates the positional offset between the slave and

master axes at the instant the coupling was closed.

$AA_MASL_STAT[following axis name]

This variable indicates the current coupling state.

Value ≠ 0: "Master-slave coupling active"

In this case, it contains the current machine number of the master

axis and, if the NCU link is active (several operating panel fronts

and NCUs), also the NCU No. at the hundreds position.

Example: 201 for Axis 1 on NCU2.

Special functions

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19.10 Data lists

19.10.3

Signals

19.10.3.1

Signals to axis/spindle

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Request master-slave torque compensatory controller

DB31,

DBX24.4

DB380x.DBX5000.4

On==1 / Off==0

Request master-slave coupling On==1 / Off==0

DB31,

DBX24.7

DB380x.DBX5000.7

19.10.3.2

Signals from axis/spindle

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

State master-slave speed difference "fine"

DB31, ... DBX96.2

DB390x.DBX5000.2

State master-slave speed difference "coarse"

DB31, ... DBX96.3

DB390x.DBX5000.3

State master-slave torque compensatory controller On==1 / DB31, ... DBX96.4

DB390x.DBX5000.4

Off==0

State master-slave coupling On==1 / Off==0

DB31, ... DBX96.7

DB390x.DBX5000.7

Special functions

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TE4: Handling transformation package - 840D sl only

20.1

Brief description

The handling transformation package has been designed for use on manipulators and robots.

The package is a type of modular system, which enables the customer to configure the

transformation for his machine by setting machine data (provided that the relevant kinematics

are included in the handling transformation package).

Section structure

The "Handling transformation package" section deals with the following topics:

● The "Kinematic transformation (Page 760)" section describes the kinematic transformation

environment.

● The "Definition of terms (Page 760)" section explains some basic terms.

● The "Configuration of the kinematic transformation (Page 763)" section explains the

machine data required for the configuration.

● The "Kinematic descriptions (Page 777)" section uses configuring examples to illustrate

the most commonly used 2-axis to 5-axis kinematics that can be configured with the

"Handling transformation package".

● The "Tool orientation (Page 798)" to "Tool programming (Page 805)" sections handle the

programming. describing orientation programming, the entry of tool parameters and

transformation calls.

Abbreviations

Flange coordinate system

Wrist point coordinate system

IRO

Internal robot coordinate system

p₃, q₃, r₃

Coordinates of the last basic axis

Robot or base center point coordinate system (= basic coordinate system)

Workpiece coordinate system

Tool coordinate system

x₃, y₃, z₃

Coordinates of the first wrist axis

Special functions

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20.3 Definition of terms

20.2

Kinematic transformation

Task of a transformation

The purpose of a transformation is to transform movements in the tool tip, which are

programmed in a Cartesian coordinate system, into machine axis positions.

Fields of application

The handling transformation package described here has been designed to cover the largest

possible number of kinematic transformations implemented solely via parameter settings in

machine data. Currently, kinematics with two to maximum six axes to be included in the

transformation can be configured with this package, corresponding to up to five spatial degrees

of freedom. In this case, a maximum of 3 degrees are available for translation and 3 degrees

for orientation, This package thus allows a tool (milling cutter, laser beam) to be oriented by a

5-axis machine in any desired relation to the workpiece in every point of the machining space.

The workpiece is always programmed in the rectangular workpiece coordinate system; any

programmed or set frames rotate and shift this system in relation to the basic system. The

kinematic transformation then converts this information into motion instructions for the real

machine axes. The kinematic transformation requires information about the design

(kinematics) of the machine, which are stored in machine data.

Kinematic categories

The handling transformation package is divided into two categories of kinematics, which can

be selected via machine data:

MD62600 $MC_TRAFO6_KINCLASS (kinematic category)

● STANDARD: This category includes the most commonly used kinematics.

● SPECIAL: Special kinematics

20.3

Definition of terms

20.3.1

Units and directions

Lengths and angles

In the transformation machine data, all lengths are specified in millimeters or inches and, unless

otherwise stated, all angles in degrees at intervals of [ -180°, 180° ].

Direction of rotation

In the case of angles, arrows in the drawings always indicate the mathematically positive

direction of rotation.

Special functions

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20.3 Definition of terms

20.3.2

Definition of positions and orientations using frames

In order to make a clear distinction from the term "frame" as it is used in the NC language, the

following description explains the meaning of the term "frame" in relation to the handling

transformation package.

Frame

A frame can be used to translate one coordinate system into another. In this respect, a

distinction must be made between translation and rotation. Translation results in an offset; a

rotation, a rotation of the coordinate system with respect to the initial system. Coordinates X,

Y and Z are used as designator for a translation. They are defined so as to result in a legal

coordinate system.

Translation

A translation is always specified in relation to the coordinate directions of the initial system.

These directions are assigned to machine data as follows:

● X direction: ..._POS[ 0 ]

● Y direction: ..._POS[ 1 ]

● Z direction: ..._POS[ 2 ]

Rotation

A rotation is specified in RPY angles A, B and C (R=roll, P=pitch, Y=yaw). The positive direction

of rotation is defined by the right hand rule, i.e. if the thumb on the right hand is pointing in the

direction of the axis of rotation, then the fingers are pointing in the positive angular direction.

Angles A and C are defined in the interval [ -180; +180 ], and B in the interval [ -90; +90 ].

The definitions of the RPY angles are as follows:

● Angle A: 1. rotation about the Z axis of the initial system

● B angle: 2. Rotation through the rotated Y axis

● C angle: 3. rotation about the twice rotated X axis

The RPY angles are assigned to machine data as follows:

● Angle A: ..._RPY[ 0 ]

● B angle: ..._RPY[ 1 ]

● C angle: ..._RPY[ 2 ]

The following diagram shows an example for a rotation through the RPY angle. The initial

coordinate system X1, Y1, Z1 is transitioned into the coordinate system X4, Y4, Z4

1. Rotation through angle A around the Z1 axis

2. Rotation through angle B around the Y2 axis

3. Rotation through angle C around the X3 axis.

Special functions

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20.3 Definition of terms

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Figure 20-1

Example of rotation through RPY angles

20.3.3

Definition of a joint

Meaning

A sliding joint is implemented using a translatory axis, and a swivel joint, using a rotary axis.

The basic axis identifiers result from the arrangement and sequence of the individual joints.

These are specified using letter codes (S, C, R, N).

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Special functions

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20.4 Configuration of a kinematic transformation

Figure 20-2

Joint identifying letters

20.4

Configuration of a kinematic transformation

Meaning

In order to ensure that the kinematic transformation can convert the programmed values into

axis motions, it must have access to some information about the mechanical construction of

the machine. This information is stored in machine data:

● Axis assignments

● Geometry information

20.4.1

General machine data

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

The value 4100 must be entered in this data for the handling transformation package.

MD24110 $MC_TRAFO_AXES_IN_1 (axis assignment for transformation)

The axis assignment at the transformation input defines which transformation axis is mapped

internally onto a channel axis. It is specified in machine data:

MD24110 $MC_TRAFO_AXES_IN_1

There is a predetermined axis sequence for the handling transformation package, The basic

axes are entered in the first three components (index 0…2). The upper three components

(index 3…5) are assigned to the manual axes.

● MD24110 $MC_TRAFO_AXES_IN_1[0] = 1 ; 1. Basic axis

● MD24110 $MC_TRAFO_AXES_IN_1[1] = 2 ; 2. Basic axis

● MD24110 $MC_TRAFO_AXES_IN_1[2] = 3 ; 3. Basic axis

● MD24110 $MC_TRAFO_AXES_IN_1[3] = 4 ; 1. Manual axis

● MD24110 $MC_TRAFO_AXES_IN_1[4] = 5 ; 2. Manual axis

● MD24110 $MC_TRAFO_AXES_IN_1[5] = 6 ; 3. Manual axis

MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1 (assignment between geometry axis and channel

axis for transformation 1)

The translational degrees of freedom that are available for the transformation are entered via

machine data:

MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1

Special functions

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20.4 Configuration of a kinematic transformation

The 3 geometry axes normally correspond to Cartesian axis directions X, Y and Z.

In this case, the first three channel axis numbers must be transferred from MD24110

$MC_TRAFO_AXES_IN_1 to MD24120 $MC_TRAFO_GEO_AX_ASSIGN_TAB_1.

● MD24120 $MC_TRAFO_GEO_AX_ASSIGN_TAB_1[0] = 1

● MD24120 $MC_TRAFO_GEO_AX_ASSIGN_TAB_1[1] = 2

● MD24120 $MC_TRAFO_GEO_AX_ASSIGN_TAB_1[2] = 3

20.4.2

Parameterization using geometry data

Modular principle

The machine geometry is parameterized according to a type of modular principle. With this

method, the machine is successively configured in geometry parameters from its base center

point to the tool tip, thereby producing a closed kinematic loop. In this case, frames are used

to describe the geometry. While the control is powering up, the configuration machine data is

checked and alarms displayed when relevant. All axes of the mode group are tracked as alarm

response. The alarms can be deleted using POWER ON.

As shown in the following diagram "Closed kinematic loop illustrated by the example of a robot",

the kinematic transformation converts the tool operating point (tool coordinate system: X_TO,

Y_TO, Z_TO), specified relative to the base coordinate system (BCS = robot coordinate system:

X_RO, Y_RO, Z_RO), in machine axis values (MCS positions: A1, A2, A3, ...). The operating point

(XWZ, YWZ, ZWZ) is specified in the part program in relation to the workpiece to be machined

(workpiece coordinate system WCS: X_WS, Y_WS, Z_WS). The programmable frames make it

possible to create an offset between the workpiece coordinate system (WCS) and the base

coordinate system (BCS).

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Closed kinematic loop illustrated by the example of a robot

Special functions

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20.4 Configuration of a kinematic transformation

Note

For more detailed information about coordinate systems, please see:

Reference:

Function Manual Basic Functions;

Chapter "K2, axes, coordinate systems, frames" > "Coordinate systems"

The following machine data is available for configuring kinematic transformations:

Frame between base center point and internal coordinate system

The frame T_IRO_RO links the base center point of the machine (BCS = RO) with the first

internal coordinate system (IRO) determined by the transformation.

● MD62613 $MC_TRAFO6_TIRORO_RPY (frame between base center point and internal

coordinate system (rotation component), n = 0...2)

● MD62612 $MC_TRAFO6_TIRORO_POS (frame between base center point and internal

coordinate system (position component), n = 0...2)

Basic axis arrangement

The type of basic axis arrangement is specified in machine data:

● MD62603 $MC_TRAFO6_MAIN_AXES (basic axis identifier)

The first three axes included in the transformation are generally referred to as the "basic axes".

They must always be mutually parallel or perpendicular.

The handling transformation package contains the basic axis kinematics shown in the following

diagram. Every basic axis arrangement has its own special identifier (see Chapter "Definition

of a joint (Page 762)").

Special functions

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20.4 Configuration of a kinematic transformation

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① SS: MD62603 = 1, gantry (3 linear axes, rectangular)

② CC: MD62603 = 2, SCARA (1 linear axis, 2 rotary axes (in parallel))

③ CS: MD62603 = 6, SCARA (2 linear axes, 1 rotary axis (spin axis))

④ NR: MD62603 = 3, articulated arm (3 rotary axes (2 axes in parallel))

⑤ SC: MD62603 = 4, SCARA (2 linear axes, 1 rotary axis (swivel axis))

⑥ RR: MD62603 = 5, articulated arm (1 linear axis, 2 rotary axes (vertical))

⑦ NN: MD62603 = 7, articulated arm (3 rotary axes)

Figure 20-4

Overview of basic axis configuration

Basic axis lengths A and B

The basic axis lengths A and B are specified with machine data:

● MD62607 $MC_TRAFO6_MAIN_LENGTH_AB (basic axis lengths A and B, n = 0...1)

As Fig. "Overview of basic axis configurations" illustrates, these are specially defined for each

type of basic axis.

Special functions

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20.4 Configuration of a kinematic transformation

Position of the 4th axis

Whether the 4th axis is mounted parallel, anti-parallel or perpendicular to the last rotary basic

axis is specified in machine data:

● MD62606 $MC_TRAFO6_A4PAR (axis 4 is parallel/anti-parallel to last basic axis)

Description of the wrist axis

Frame to attach the wrist axis

Frame T_X3_P3 links the last coordinate system of the basic axes with the first wrist axis

coordinate system.

● MD62608 $MC_TRAFO6_TX3P3_POS (attachment of wrist axis (position component], n

= 0...2)

● MD62609 $MC_TRAFO6_TX3P3_RPY (attachment of wrist axis (rotation component), n =

0...2)

Frame between wrist point and flange coordinate system

Frame T_FL_WP links the last hand wrist axis coordinate system with the flange coordinate

system.

● MD62610 $MC_TRAFO6_TFLWP_POS (frame between wrist point and flange coordinate

system (position component), n = 0...2)

● MD62611 $MC_TRAFO6_TFLWP_RPY (frame between wrist point and flange coordinate

system (rotation component), n = 0...2)

This data is explained in more detail in the following sections.

Description of the wrist axis type

These parameters describe the wrist axis type.

● MD62604 $MC_TRAFO6_WRIST_AXES (wrist axis identifier)

The term wrist axes generally refers to axes four to six.

Wrist axes included in every transformation

The fourth axis and all further axes are generally referred to as "wrist axes". The handling

transformation package can only identify wrist axes with rotary axes. The wrist axis identifier

for three-axis wrists is entered in machine data:

● MD62604 $MC_TRAFO6_WRIST_AXES (wrist axis identifier)

When there are fewer than three wrist axes, the identifier for the inclined wrist axis or a central

wrist axis is entered in the machine data:

● MD62604 $MC_TRAFO6_WRIST_AXES (wrist axis identifier)

The current software only supports the central and inclined wrist axis types.

Special functions

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20.4 Configuration of a kinematic transformation

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Figure 20-5

Overview of wrist axis configuration

Parameterization of wrist axes

With the following machine data, using a special frame type, the geometry of the wrist axis

and/or the position of the coordinate system in the wrist axis with respect to one another is

defined.

● MD62614 $MC_TRAFO6_DHPAR4_5A (parameter A for configuring the wrist axis, n = 0...1)

● MD62615 $MC_TRAFO6_DHPAR4_5D (parameter D for configuring the wrist axis, n =

0...1)

● MD62616 $MC_TRAFO6_DHPAR4_5ALPHA. (Parameter ALPHA for configuring the wrist

axis, n = 0...1)

For this purpose, the machine data corresponds to certain frame components (see Section

"Definition of positions and orientations using frames (Page 761)"):

● X component: MD62614 $MC_TRAFO6_DHPAR4_5A ≙ _POS[ 0 ] (x component)

● Z component: MD62615 $MC_TRAFO6_DHPAR4_5D ≙ _POS[ 2 ] (z component)

● C angle: MD62616 $MC_TRAFO6_DHPAR4_5ALPHA ≙ _RPY[ 2 ] (C angle)

The other components of the frame are zero.

Central wrist axis

On a central wrist axis, all wrist axes intersect at one point. All parameters must be set as

shown in Table "Configuring data for a central wrist axis".

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Figure 20-6

Central wrist axis, 5-axis machine

Table 20-1

Configuring data for a central wrist axis

Machine data

Value

MD62604 $MC_TRAFO6_WRIST_AXES

MD62614 $MC_TRAFO6_DHPAR4_5A

[0.0, 0.0]

Special functions

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20.4 Configuration of a kinematic transformation

Machine data

Value

MD62615 $MC_TRAFO6_DHPAR4_5D

[0.0, 0.0]

MD62616 $MC_TRAFO6_DHPAR4_5ALPHA

[-90.0, 90.0]

Inclined wrist axis

The inclined wrist axis differs from the central wrist axis in two respects, i.e. the axes do not

intersect nor are they mutually perpendicular. Parameters a₄, d₅, and a₄ are available for this

type of hand, as shown in Table "Configuring data for a central wrist axis".

]

[

]

① MD62614 $MC_TRAFO6_DHPAR4_5A[ 0 ]

② MD62616 $MC_TRAFO6_DHPAR4_5ALPHA[ 0 ]

③ MD62615 $MC_TRAFO6_DHPAR4_5D[ 1 ]

Figure 20-7

Inclined wrist axis, 5-axis machine

Table 20-2

Configuring data for an inclined wrist axis (5-axis

Machine data

Value

MD62604 $MC_TRAFO6_WRIST_AXES

MD62614 $MC_TRAFO6_DHPAR4_5A

[a4, 0.0]

MD62615 $MC_TRAFO6_DHPAR4_5D

[0.0, d5]

MD62616 $MC_TRAFO6_DHPAR4_5ALPHA

[α4, 0.0]

Special functions

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20.4 Configuration of a kinematic transformation

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Figure 20-8

Link frames

Frame: T_IRO_RO

Frame T_IRO_RO provides the link between the base center point coordinate system (RO)

defined by the user and the internal robot coordinate system (IRO). The internal robot

coordinate system is predefined in the handling transformation package for each basic axis

type and included in the kinematic diagrams for the basic axis arrangements. The base center

point system is in the Cartesian zero point of the machine, corresponding to the basic

coordinate system. If no FRAMES are programmed, the basic coordinate system equals the

workpiece coordinate system.

Note

For more detailed information about FRAMES, please see:

References:

Programming Manual Fundamentals

Frame T_IRO_RO is not subject to any restrictions for 5-axis kinematics.

The following restrictions apply in relation to 4-axis kinematics:

● The first rotary axis must always be parallel/anti-parallel to one of the coordinate axes of

the base center point coordinate system (RO).

● No further restrictions apply to type SS basic axes.

● In the case of type CC, CS or SC basic axes, no further restrictions apply provided that the

4th axis is parallel to the last rotary basic axis.

● With respect to all other basic axes, and basic axes of type CC, CS or SC if the 4th axis is

perpendicular to the last rotary basic axis, the Z axis of RO must be parallel to the Z axis

of IRO.

Special functions

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20.4 Configuration of a kinematic transformation

Frame: T_X3_P3

Frame T_X3_P3 describes the method used to attach the wrist axis to the basic axes. Frame

T_X3_P3 is used to link the coordinate system of the last basic axis (p3_q3_r3 coordinate

system) with the coordinate system of the first wrist axis (x3_y3_z3 coordinate system). The

p3_q3_r3 coordinate system is included in the kinematic diagrams for the basic axis

arrangements.

The z3 axis is always on the 4th axis.

Depending on the number of axes to be included in the transformation, frame T_X3_P3 is

subject to certain restrictions relating to the wrist and basic axes:

● For 5-axis kinematics, frame T_X3_P3 can be freely selected in the following cases:

- If the basic axes are of the SS type.

- If the basic axes are type CC, CS, or SC, the transformation must either include a central

wrist axis or the 4th axis must be positioned parallel to the last rotary basic axis.

- If the basic axes are type NR or RR, the transformation must either include a central

wrist axis or the 4th axis must be positioned in parallel to the last basic rotary axis and

an X flange must intersect the 5th axis.

- If the basic axes are of the NN type, the transformation must include a central wrist axis.

● For 4-axes, ensure that the Z3 axis is always parallel/anti-parallel or perpendicular to the

last basic axis.

Frame: T_FL_WP

Frame T_FL_WP links the flange with the last internal coordinate system (wrist point coordinate

system) preset by the handling transformation package.

For kinematics with less than 6 axes, this frame is subject to certain restrictions. These

restrictions are explained by the relevant kinematics.

Other configuring data

Number of transformed axes

The number of axes included in the transformation is defined in machine data:

● MD62605 $MC_TRAFO6_NUM_AXES (number of transformed axes)

The number of transformed axes can currently lie between two and six axes.

Special functions

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20.4 Configuration of a kinematic transformation

Changing the axis sequence

Rearrangement of axes: MD62620

Note

With certain types of kinematics, it is possible to transpose axes without changing the behavior

of the kinematic transformation. Machine data:

MD62620 $MC_TRAFO6_AXIS_SEQ (rearrangement of axes)

The axes on the machine are numbered consecutively from 1 to 6 and must be entered in the

internal sequence in machine data:

MD62620 $MC_TRAFO6_AXIS_SEQ[0] ...[4]

All other axis-specific machine data refer to the sequence of axes on the machine.

Table 20-3

Changing the axis sequence

Basic axis kinematics

Options for changing axis sequence

SS, CC

Any

1 and 2

2 and 3

Example 1

There are two kinematics, such as those shown in Fig. "Rearrangement of axes 1". Kinematic

1 is directly included in the handling transformation package. It corresponds to a CC kinematic

with a wrist axis parallel to the last basic rotary axis.

Kinematic 2 is the same as kinematic 1 inasmuch as it is irrelevant for the resulting robot

movement whether the translational axis is axis 1 or axis 4. In this instance, the data for

kinematic 2 must be entered as follows in machine data:

● MD62620 $MC_TRAFO6_AXIS_SEQ (rearrangement of axes)

The input is as follows:

● MD62620 $MC_TRAFO6_AXIS_SEQ[ 0 ] = 4

● MD62620 $MC_TRAFO6_AXIS_SEQ[ 1 ] = 1

● MD62620 $MC_TRAFO6_AXIS_SEQ[ 2 ] = 2

● MD62620 $MC_TRAFO6_AXIS_SEQ[ 3 ] = 3

Special functions

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20.4 Configuration of a kinematic transformation

① Kinematics 1

② Kinematics 2

Figure 20-9

Rearrangement of axes 1

Example 2

This example involves a SCARA kinematic transformation as illustrated in Fig.

"Rearrangement of axes 2", in which the axes can be freely transposed. Kinematic 1 is directly

included in the handling transformation package. It corresponds to a CC kinematic. As regards

the transposition of axes, it is irrelevant how many wrist axes are involved in the transformation.

① Kinematics 1: Axis sequence 1 2 3

② Kinematics 2: Axis sequence 2 1 3

③ Kinematics 3: Axis sequence 2 3 1

Figure 20-10

Rearrangement of axes 2

Changing the directions of axes

A rotational or offset direction is preset for each axis in the handling transformation package.

This direction is not necessarily the same as the corresponding direction on the machine. The

following machine data must be set to -1 for the relevant axis if the direction is to be inverted,

or otherwise to +1:

● MD62618 $MC_TRAFO6_AXES_DIR[ ] (matching of physical and mathematical directions

of rotation [axis no.]: 0...5)

Adapting the zero points of the axes

Offset between mathematical and mechanical zero points

The mathematical zero points of axes are preset in the handling transformation package.

However, the mathematical zero point does not always correspond to the mechanical zero

Special functions

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20.4 Configuration of a kinematic transformation

point (calibration point) of axes. In order for the zero point of each axis to fit one another, the

difference between the mathematical zero point and the alignment point for each axis must be

entered in the following machine data:

● MD62617 $MC_TRAFO6_MAMES[ ] (offset between mathematical and mechanical zero

points [axis no.]: 0...5)

The deviation to be entered corresponds to the difference between the mechanical zero point

and the mathematically positive direction of rotation of the axis.

Example

Jointed arm kinematics are shown in the following diagram.

In the mathematical zero position ②, axis 2 (A2) has a value of 90º. This value should be

entered into the machine data for axis 2 (index 1):

● MD62617 $MC_TRAFO6_MAMES[ 1 ] = 90

Axis 3 (A3) is counted relative to the previous axis 2 (A2) in the kinematic chain, and in the

mechanical zero position ① has the value: -90º:

● MD62617 $MC_TRAFO6_MAMES[ 2 ] = -90

① mechanical zero position (adjusted position):

② MD62617 $MC_TRAFO6_MAMES[ 2 ] = -90

③ mathematical zero position

④ MD62617 $MC_ TRAFO6_MAMES[ 1 ] = 90

Figure 20-11

Matching mathematical and mechanical zero points

Axis type for transformation

Which axis type is handled is specified in machine data:

● MD62601 $MC_TRAFO6_AXES_TYPE (axis type for transformation [axis no.]: 0...5)

Special functions

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20.4 Configuration of a kinematic transformation

The transformation package distinguishes between the following axis types:

● Linear axis: MD62601 = 1

● Rotary axis: MD62601 = 3

Velocity and acceleration values for override control that limits the dynamic response

CAUTION

Unnecessarily high limiting default values

Since software release RCTRA 07.05.00, RCTRA transformation for limiting the Cartesian

velocities and acceleration levels, takes into account machine data MD62629 to MD62632.

In order to avoid unnecessarily limiting the velocities and acceleration levels, this machine

data must be adapted to the machine capabilities. Frequently, unnecessarily high limiting

default values are set here, as - up until now - this data has not been used.

For traversing axes with active RCTRA transformation and override controls that limit the

dynamic performance, dedicated substitute limit values have been introduced for velocities

and acceleration levels for Cartesian motion components.

The override controller within the transformation is only active if motion is interpolated, whose

dynamic limits are not secured - or not completely secured - through motion planning in the

Look Ahead function of the control.

The velocity controller is active in the following cases:

● When traversing in the JOG mode with transformation

● For overlaid motion in realtime, e.g. via system variable $AA_OFF[ X ]

● For velocity limits as a result of Safety Integrated (SG level active)

Cartesian velocity

The velocities for individual translatory motion directions when traversing with override

controller are specified using machine data:

● MD62629 $MC_TRAFO6_VELCP[ i ] (Cartesian velocity [No.]: 0...2)

- Index i = 0 : X component of basic system

- Index i = 1 : Y component of basic system

- Index i = 2 : Z component of basic system

Special functions

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20.4 Configuration of a kinematic transformation

Cartesian acceleration rates

The acceleration levels for individual translatory motion directions when traversing with

override controller are specified using machine data:

● MD62630 $MC_TRAFO6_ACCCP[i] (Cartesian acceleration levels [no.]: 0...2)

- Index i = 0 : X component of basic system

- Index i = 1 : Y component of basic system

- Index i = 2 : Z component of basic system

Orientation angle velocities

The velocities for individual orientation directions when traversing with override controller are

specified using machine data:

● MD62631 $MC_TRAFO6_VELORI[ i ] (orientation angle velocities [no.]: 0...2)

- Index i = 0 : A angle

- Index i = 1 : B angle

- Index i = 2 : C angle

Orientation angle acceleration rates

The acceleration levels for individual orientation directions when traversing with override

controller are specified using machine data:

● MD62632 $MC_TRAFO6_ACCORI[ i ] (orientation angle acceleration levels [no.]: 0...2)

- Index i = 0 : A angle

- Index i = 1 : B angle

- Index i = 2 : C angle

Reduction factor for the velocity controller

A reduction factor for the velocity controller in the JOG mode can be specified with the machine

data:

● MD62633 $MC_ROBX_DYN_LIM_REDUCE (reduction factor for the velocity controller)

Time constant for the velocity controller

A time constant for the PT1 filter of the velocity controller can be specified with the machine

data:

● MD62634 $MC_ROBX_VEL_FILTER_TIME (time constant for the velocity controller)

Special functions

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20.5 Descriptions of kinematics

20.5

Descriptions of kinematics

The following descriptions of kinematics for transformations involving 2 to 5 axes explain the

general configuring procedure first before describing how the machine data need to be

configured, using a configuring example for each kinematic type. These examples do not

include all possible lengths and offsets. The direction data refer to the positive directions of

traversal and rotation for the transformation. The axis positions correspond to their zero

position for the relevant transformation.

20.5.1

3-axis kinematics

3-axis kinematics normally possess three translational degrees of freedom, but do not have a

rotational degree of freedom for orientation. As a consequence, 3-axis kinematics only have

basic axes.

Configuration

The procedure for configuring a 3-axis kinematic is as follows:

1. Enter "Standard" kinematic category in machine data:

MD62600 $MC_TRAFO6_KINCLASS (kinematic category)

2. Set the number of axes for transformation in machine data:

MD62605 $MC_TRAFO6_NUM_AXES = 3 (number of transformed axes)

3. Compare the basic axes with the basic axes contained in the handling transformation

package. → Enter the basic axis identifier in machine data:

MD62603 $MC_TRAFO6_MAIN_AXES (basic axis identifier)

4. If the axis sequence is not the same as the normal axis sequence, it must be corrected in

machine data:

MD62620 $MC_TRAFO6_AXIS_SEQ (rearrangement of axes)

5. As identifier for the wrist axes, the following machine data must be set to 1 (no wrist axis):

MD62604 $MC_TRAFO6_WRIST_AXES = 1 (wrist axis identifier)

6. Enter the axis types for the transformation in machine data:

MD62601 $MC_TRAFO6_AXES_TYPE (axis type for transformation)

7. Compare the directions of rotation of axes with the directions defined in the handling

transformation package and correct in machine data:

MD62618 $MC_TRAFO6_AXES_DIR (matching of physical and mathematical directions

of rotation)

8. Enter the mechanical zero offset in machine data:

MD62617 $MC_TRAFO6_MAMES (offset between mathematical and mechanical zero

points)

9. Enter the basic axis lengths in machine data:

MD62607 $MC_TRAFO6_MAIN_LENGTH_AB (basic axis lengths A and B)

Special functions

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20.5 Descriptions of kinematics

10.Define frame T_IRO_RO and enter the offset in machine data:

MD62612 $MC_TRAFO6_TIRORO_POS (frame between base center point and internal

system (position component))

Enter the rotation in machine data:

MD62613 $MC_TRAFO6_TIRORO_RPY (frame between base center point and internal

system (rotation component))

11.Determine the flange coordinate system. For this purpose, the p3_q3_r3 coordinate system

must be regarded as the initial system. The offset is entered in machine data:

MD62610 $MC_TRAFO6_TFLWP_POS (frame between wrist point and flange (position

component))

The rotation is entered in machine data:

MD62611 $MC_TRAFO6_TFLWP_RPY (frame between wrist point and flange (rotation

component))

SCARA kinematics

SCARA kinematics are characterized by the fact that they possess both translational and rotary

axes. The kinematics have different names depending on how the basic axes are arranged

with respect to one another, e.g.: CC, SC, CS kinematics (see Chapter "Definition of a joint

(Page 762)").

3-axis CC kinematics

75$)2 B0$,1B/(1*7+B$%>

75$)2 B7)

/:3B326> @

]

\_)/

[_)/

]_:=

\_:=

[_:=

\_,52

[_,522

]_,52

]

\₅₂

75$)2 B7,5252B326> @

[₅₂

Figure 20-12

3-axis CC kinematics

Special functions

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20.5 Descriptions of kinematics

Table 20-4

Configuration data for 3-axis CC kinematics

Machine data

Value

MD62600 $MC_TRAFO6_KINCLASS

MD62605 $MC_TRAFO6_NUM_AXES

MD62603 $MC_TRAFO6_MAIN_AXES

MD62604 $MC_TRAFO6_WRIST_AXES

MD62601 $MC_TRAFO6_AXES_TYPE

[3, 1, 3, ...]

MD62620 $MC_TRAFO6_AXIS_SEQ

[2, 1, 3, 4, 5, 6]

MD62618 $MC_TRAFO6_AXES_DIR

[1, 1, 1, 1, 1, 1]

MD62617 $MC_TRAFO6_MAMES

[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

MD62607 $MC_TRAFO6_MAIN_LENGTH_AB

[0.0, 300.0]

MD62612 $MC_TRAFO6_TIRORO_POS

[0.0, 0.0, 500.0]

MD62613 $MC_TRAFO6_TIRORO_RPY

[0.0, 0.0, 90.0]

MD62608 $MC_TRAFO6_TX3P3_POS

[0.0, 0.0, 0.0]

MD62609 $MC_TRAFO6_TX3P3_RPY

[0.0, 0.0, 0.0]

MD62610 $MC_TRAFO6_TFLWP_POS

[200.0, 0.0, 0.0]

MD62611 $MC_TRAFO6_TFLWP_RPY

[0.0, 0.0, -90.0]

3-axis SC kinematics

]_)/

,52

]

\_,52

\_)/

[_)/

[_,52

]_:=

\_:=

]_,52

[_:=

75$)2 B7,5252B326> @

\_,52

[_,52

75$)2 B0$,1B/(1*7+B$%> @

75$)2 B7)/:3B326> @

Figure 20-13

3-axis SC kinematics

Table 20-5

Configuration data for 3-axis SC kinematics

Machine data

Value

MD62600 $MC_TRAFO6_KINCLASS

MD62605 $MC_TRAFO6_NUM_AXES

MD62603 $MC_TRAFO6_MAIN_AXES

MD62604 $MC_TRAFO6_WRIST_AXES

MD62601 $MC_TRAFO6_AXES_TYPE

[1, 1, 3, ...]

MD62620 $MC_TRAFO6_AXIS_SEQ

[1, 2, 3, 4, 5, 6]

MD62618 $MC_TRAFO6_AXES_DIR

[1, 1, 1, 1, 1, 1]

Special functions

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20.5 Descriptions of kinematics

Machine data

Value

MD62617 $MC_TRAFO6_MAMES

[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

MD62607 $MC_TRAFO6_MAIN_LENGTH_AB

[500.0, 0.0]

MD62612 $MC_TRAFO6_TIRORO_POS

[0.0, 0.0, 500.0]

MD62613 $MC_TRAFO6_TIRORO_RPY

[0.0, 0.0, 0.0]

MD62608 $MC_TRAFO6_TX3P3_POS

[0.0, 0.0, 0.0]

MD62609 $MC_TRAFO6_TX3P3_RPY

[0.0, 0.0, 0.0]

MD62610 $MC_TRAFO6_TFLWP_POS

[300.0, 0.0, 0.0]

MD62611 $MC_TRAFO6_TFLWP_RPY

[0.0, 0.0, 0.0]

3-axis CS kinematic

]

[

]

[

,52

[

,52

75$)2 B7,5252B326> @

]

[

75$)2 B7)/:3B326> @

75$)2 B0$,1B/(1*7+B$%> @

Figure 20-14

3-axis CS kinematic

Table 20-6

Configuration data for 3-axis CS kinematics

Machine data

Value

MD62600 $MC_TRAFO6_KINCLASS

MD62605 $MC_TRAFO6_NUM_AXES

MD62603 $MC_TRAFO6_MAIN_AXES

MD62604 $MC_TRAFO6_WRIST_AXES

MD62601 $MC_TRAFO6_AXES_TYPE

[3, 1, 1, ...]

MD62620 $MC_TRAFO6_AXIS_SEQ

[1, 2, 3, 4, 5, 6]

MD62618 $MC_TRAFO6_AXES_DIR

[1, 1, 1, 1, 1, 1]

MD62617 $MC_TRAFO6_MAMES

[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

MD62607 $MC_TRAFO6_MAIN_LENGTH_AB

[500.0, 0.0]

Special functions

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20.5 Descriptions of kinematics

Machine data

Value

MD62612 $MC_TRAFO6_TIRORO_POS

[0.0, 0.0, 500.0]

MD62613 $MC_TRAFO6_TIRORO_RPY

[0.0, 0.0, 0.0]

MD62608 $MC_TRAFO6_TX3P3_POS

[0.0, 0.0, 0.0]

MD62609 $MC_TRAFO6_TX3P3_RPY

[0.0, 0.0, 0.0]

MD62610 $MC_TRAFO6_TFLWP_POS

[300.0, 0.0, 0.0]

MD62611 $MC_TRAFO6_TFLWP_RPY

[0.0, 0.0, 0.0]

Articulated-arm kinematics

3-axis NR kinematics

75$)2 B0$,1B/(1*7+B$%> @

=_,52

,52

<_)/

;_,52

;_)/

=_:=

<_:=

;_:=

75$) B

7,5252B326> @

=₅₂

<₅₂

75$)2 B

7)/:3B326> @

;₅₂

75$)2 B

0$,1B/(1*7+B$%> @

Figure 20-15

3-axis NR kinematics

Table 20-7

Configuration data 3-axis NR kinematic

Machine data

Value

MD62600 $MC_TRAFO6_KINCLASS

MD62605 $MC_TRAFO6_NUM_AXES

MD62603 $MC_TRAFO6_MAIN_AXES

MD62604 $MC_TRAFO6_WRIST_AXES

MD62601 $MC_TRAFO6_AXES_TYPE

[3, 3, 3, ...]

MD62620 $MC_TRAFO6_AXIS_SEQ

[1, 2, 3, 4, 5, 6]

MD62618 $MC_TRAFO6_AXES_DIR

[1, 1, 1, 1, 1, 1]

MD62617 $MC_TRAFO6_MAMES

[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

MD62607 $MC_TRAFO6_MAIN_LENGTH_AB

[300.0, 500.0]

MD62612 $MC_TRAFO6_TIRORO_POS

[0.0, 0.0, 500.0]

MD62613 $MC_TRAFO6_TIRORO_RPY

[0.0, 0.0, 0.0]

MD62608 $MC_TRAFO6_TX3P3_POS

[0.0, 0.0, 0.0]

Special functions

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20.5 Descriptions of kinematics

Machine data

Value

MD62609 $MC_TRAFO6_TX3P3_RPY

[0.0, 0.0, 0.0]

MD62610 $MC_TRAFO6_TFLWP_POS

[300.0, 0.0, 0.0]

MD62611 $MC_TRAFO6_TFLWP_RPY

[0.0, 0.0, 0.0]

3-axis RR kinematics

75$)2 B0$,1B/(1*7+B$%> @

75$)2 B7)/:3B326> @

=_,52

=_)/

<_,52

<_)/

;_,52

;_)/

=_:=

<_:=

;_:=

=₅₂

<₅₂

;₅₂

Figure 20-16

3-axis RR kinematics

Table 20-8

Configuration data for 3-axis RR kinematics

Machine data

Value

MD62600 $MC_TRAFO6_KINCLASS

MD62605 $MC_TRAFO6_NUM_AXES

MD62603 $MC_TRAFO6_MAIN_AXES

MD62604 $MC_TRAFO6_WRIST_AXES

MD62601 $MC_TRAFO6_AXES_TYPE

[3, 1, 3, ...]

MD62620 $MC_TRAFO6_AXIS_SEQ

[1, 2, 3, 4, 5, 6]

MD62618 $MC_TRAFO6_AXES_DIR

[1, 1, 1, 1, 1, 1]

MD62617 $MC_TRAFO6_MAMES

[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

MD62607 $MC_TRAFO6_MAIN_LENGTH_AB

[300.0, 0.0]

MD62612 $MC_TRAFO6_TIRORO_POS

[0.0, 0.0, 300.0]

MD62613 $MC_TRAFO6_TIRORO_RPY

[0.0, 0.0, 0.0]

MD62608 $MC_TRAFO6_TX3P3_POS

[0.0, 0.0, 0.0]

MD62609 $MC_TRAFO6_TX3P3_RPY

[0.0, 0.0, 0.0]

MD62610 $MC_TRAFO6_TFLWP_POS

[200.0, 0.0, 0.0]

MD62611 $MC_TRAFO6_TFLWP_RPY

[0.0, 0.0, 0.0]

Special functions

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20.5 Descriptions of kinematics

3-axis NN kinematics

75$)2 B0$,1B/(1*7+B$%> @

75$)2 B7)/:3B326> @

=_)/

<_)/

;_)/

=_:=

<_:=

;_:=

75$)2 B0$,1

/(1*7+B$%> @

<_,52

;_,52

=_,52

75$)2 B7,5252B

326> @

=₅₂

<₅₂

;₅₂

Figure 20-17

3-axis NN kinematics

Table 20-9

Configuration data for 3-axis NN kinematics

Machine data

Value

MD62600 $MC_TRAFO6_KINCLASS

MD62605 $MC_TRAFO6_NUM_AXES

MD62603 $MC_TRAFO6_MAIN_AXES

MD62604 $MC_TRAFO6_WRIST_AXES

MD62601 $MC_TRAFO6_AXES_TYPE

[3, 3, 3, ...]

MD62620 $MC_TRAFO6_AXIS_SEQ

[1, 2, 3, 4, 5, 6]

MD62618 $MC_TRAFO6_AXES_DIR

[1, 1, 1, 1, 1, 1]

MD62617 $MC_TRAFO6_MAMES

[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

MD62607 $MC_TRAFO6_MAIN_LENGTH_AB

[300.0, 500.0]

MD62612 $MC_TRAFO6_TIRORO_POS

[0.0, 0.0, 300.0]

MD62613 $MC_TRAFO6_TIRORO_RPY

[0.0, 0.0, 90.0]

MD62608 $MC_TRAFO6_TX3P3_POS

[0.0, 0.0, 0.0]

MD62609 $MC_TRAFO6_TX3P3_RPYFehler! Bookmark not defined.

[0.0, 0.0, 0.0]

MD62610 $MC_TRAFO6_TFLWP_POS

[400.0, 0.0, 0.0]

MD62611 $MC_TRAFO6_TFLWP_RPY

[0.0, 0.0, -90.0]

20.5.2

4-axis kinematics

4-axis kinematics normally have 3 translational degrees of freedom and one rotational degree

of freedom for orientation.

Special functions

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20.5 Descriptions of kinematics

Restrictions

The following restrictions apply to 4-axis kinematics:

The frame T_FL_WP is subject to the following condition:

● MD62611 $MC_TRAFO6_TFLWP_RPY = [ 0.0, 90.0, 0.0 ] (frame between wrist point and

flange (rotation component))

● X flange and X tool must be parallel to the 4th axis.

● Two successive basic axes must be parallel or orthogonal.

● The 4th axis must only be mounted in a parallel or orthogonal way to the last basic axis.

Configuration

The procedure for configuring a 4-axis kinematic is as follows:

1. Enter "Standard" kinematic category in the machine data:

MD62600 $MC_TRAFO6_KINCLASS (kinematic category)

2. Set the number of axes for transformation in the machine data:

MD62605 $MC_TRAFO6_NUM_AXES=4 (number of transformed axes)

3. Compare the basic axes with the basic axes contained in the handling transformation

package.

- Enter the basic axis identifier in machine data:

MD62603 $MC_TRAFO6_MAIN_AXES (basic axis identifier)

4. If the axis sequence is not the same as the normal axis sequence, it must be corrected in

machine data:

MD62620 $MC_TRAFO6_AXIS_SEQ (rearrangement of axes)

5. As identifier for the wrist axes, the following machine data must be set (no wrist axis):

MD62604 $MC_TRAFO6_WRIST_AXES = 1 (wrist axis identifier)

6. Whether axis 4 runs parallel/anti-parallel to the last rotary basic axis is entered into the

machine data:

MD62606 $MC_TRAFO6_A4PAR (axis 4 is parallel/anti-parallel to last basic axis)

7. Enter the axis types for the transformation in machine data:

MD62601 $MC_TRAFO6_AXES_TYPE (axis type for transformation)

8. Compare the directions of rotation of axes with the directions defined in the handling

transformation package and correct in the machine data:

MD62618 $MC_TRAFO6_AXES_DIR (matching of physical and mathematical directions

of rotation)

9. Enter the mechanical zero offset in the machine data:

MD62617 $MC_TRAFO6_MAMES (offset between mathematical and mechanical zero

points)

10.Enter the basic axis lengths in the machine data:

MD62607 $MC_TRAFO6_MAIN_LENGTH_AB (basic axis lengths A and B)

Special functions

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20.5 Descriptions of kinematics

11.Define frame T_IRO_RO and enter the offset in the machine data:

MD62612 $MC_TRAFO6_TIRORO_POS (frame between base center point and internal

system (position component))

Enter the rotation in the machine data:

MD62613 $MC_TRAFO6_TIRORO_RPY (frame between base center point and internal

system (rotation component))

12.Specification of frame T_X3_P3 to attach wrist axis. For this purpose, the p3_q3_r3

coordinate system must be regarded as the initial system. The offset is entered in the

machine data:

MD62608 $MC_TRAFO6_TX3P3_POS (attachment of wrist axis (position component))

The rotation is entered in the machine data:

MD62609 $MC_TRAFO6_TX3P3_RPY (attachment of wrist axis (rotation component))

is entered.

13.Determine the flange coordinate system. For this purpose, the wrist point coordinate system

must be regarded as the initial system. The offset is entered in the machine data:

MD62610 $MC_TRAFO6_TFLWP_POS (frame between wrist point and flange (position

component))

The rotation is entered in the machine data:

MD62611 $MC_TRAFO6_TFLWP_RPY (frame between wrist point and flange (rotation

component))

SCARA kinematics

4-axis CC kinematics

[₊₃

\_,52

\₊₃

]₊₃

[_,52

]_,52

[_)/

]_)/

\_:=

]_:=

[_:=

① MD62612 $MC_TRAFO6_TIRORO_POS[2]

② MD62607 $MC_TRAFO6_MAIN_LENGTH_AB[1]

③ MD62608 $MC_TRAFO6_TX3P3_POS[0]

④ MD62608 $MC_TRAFO6_TX3P3_POS[1]

⑤ MD62610 $MC_TRAFO6_TFLWP_POS[0]

Figure 20-18

4-axis CC kinematics

Special functions

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20.5 Descriptions of kinematics

Table 20-10 Configuration data for 4-axis CC kinematics

Machine data

Value

MD62600 $MC_TRAFO6_KINCLASS

MD62605 $MC_TRAFO6_NUM_AXES

MD62603 $MC_TRAFO6_MAIN_AXES

MD62604 $MC_TRAFO6_WRIST_AXES

MD62606 $MC_TRAFO6_A4PAR

MD62601 $MC_TRAFO6_AXES_TYPE

[3, 1, 3, 3, ...]

MD62620 $MC_TRAFO6_AXIS_SEQ

[2, 1, 3, 4, 5, 6]

MD62618 $MC_TRAFO6_AXES_DIR)

[1, 1, 1, 1, 1, 1]

MD62617 $MC_TRAFO6_MAMES

[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

MD62607 $MC_TRAFO6_MAIN_LENGTH_AB

[0.0, 300.0]

MD62612 $MC_TRAFO6_TIRORO_POS

[0.0, 0.0, 500.0]

MD62613 $MC_TRAFO6_TIRORO_RPY

[0.0, 0.0, 90.0]

MD62608 $MC_TRAFO6_TX3P3_POS

[300.0, 0.0, -200.0]

MD62609 $MC_TRAFO6_TX3P3_RPY

[-90.0, 90.0, 0.0]

MD62610 $MC_TRAFO6_TFLWP_POS

[0.0, 0.0, 200.0]

MD62611 $MC_TRAFO6_TFLWP_RPY

[0.0, -90.0, 0.0]

4-axis SC kinematics

]_,52

\_)/

\_,52

]

[_)/

\_:=

[_,52

[

]_)/

[_:=

]_:=

]₅₂

\₅₂

[₅₂

① MD62612 $MC_TRAFO6_TIRORO_POS[2]

② MD62607 $MC_TRAFO6_MAIN_LENGTH_AB[0]

③ MD62608 $MC_TRAFO6_TX3P3_POS[0]

④ MD62610 $MC_TRAFO6_TFLWP_POS[0]

Figure 20-19

4-axis SC kinematics

Special functions

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20.5 Descriptions of kinematics

Table 20-11 Configuration data for 4-axis SC kinematics

Machine data

Value

MD62600 $MC_TRAFO6_KINCLASS

MD62605 $MC_TRAFO6_NUM_AXES

MD62603 $MC_TRAFO6_MAIN_AXES

MD62604 $MC_TRAFO6_WRIST_AXES

MD62606 $MC_TRAFO6_A4PAR

MD62601 $MC_TRAFO6_AXES_TYPE

[1, 1, 3, 3, ...]

MD62620 $MC_TRAFO6_AXIS_SEQ

[1, 2, 3, 4, 5, 6]

MD62618 $MC_TRAFO6_AXES_DIR

[1, 1, 1, 1, 1, 1]

MD62617 $MC_TRAFO6_MAMES

[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

MD62607 $MC_TRAFO6_MAIN_LENGTH_AB

[300.0, 0.0]

MD62612 $MC_TRAFO6_TIRORO_POS

[0.0, 0.0, 300.0]

MD62613 $MC_TRAFO6_TIRORO_RPY

[0.0, 0.0, 0.0]

MD62608 $MC_TRAFO6_TX3P3_POS

[200.0, 0.0, 0.0]

MD62609 $MC_TRAFO6_TX3P3_RPY

[0.0, 0.0, -90.0]

MD62610 $MC_TRAFO6_TFLWP_POS

[200.0, 0.0, 0.0]

MD62611 $MC_TRAFO6_TFLWP_RPY

[0.0, -90.0, 180.0]

4-axis CS kinematic

]_,52

[₊₃

\_,52

\₊₃

[_,52

]₊₃

\_)/

]_)/

[_)/

]₅₂

\_:=

\₅₂

]_:=

[_:=

[₅₂

① MD62612 $MC_TRAFO6_TIRORO_POS[2]

② MD62607 $MC_TRAFO6_MAIN_LENGTH_AB[0]

③ MD62608 $MC_TRAFO6_TX3P3_POS[0]

④ MD62608 $MC_TRAFO6_TX3P3_POS[2]

⑤ MD62610 $MC_TRAFO6_TFLWP_POS[2]

Figure 20-20

4-axis CS kinematic

Special functions

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20.5 Descriptions of kinematics

Table 20-12 Configuration data for 4-axis CS kinematics

Machine data

Value

MD62600 $MC_TRAFO6_KINCLASS

MD62605 $MC_TRAFO6_NUM_AXES

MD62603 $MC_TRAFO6_MAIN_AXES

MD62604 $MC_TRAFO6_WRIST_AXES

MD62606 $MC_TRAFO6_A4PAR

MD62601 $MC_TRAFO6_AXES_TYPE

[3, 1, 1, 3, ...]

MD62620 $MC_TRAFO6_AXIS_SEQ

[1, 2, 3, 4, 5, 6]

MD62618 $MC_TRAFO6_AXES_DIR

[1, 1, 1, 1, 1, 1]

MD62617 $MC_TRAFO6_MAMES

[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

MD62607 $MC_TRAFO6_MAIN_LENGTH_AB

[400.0, 0.0]

MD62612 $MC_TRAFO6_TIRORO_POS

[0.0, 0.0, 400.0]

MD62613 $MC_TRAFO6_TIRORO_RPY

[0.0, 0.0, 0.0]

MD62608 $MC_TRAFO6_TX3P3_POS

[500.0, 0.0, -200.0]

MD62609 $MC_TRAFO6_TX3P3_RPY

[90.0, 0.0, 180.0]

MD62610 $MC_TRAFO6_TFLWP_POS

[0.0, 0.0, 200.0]

MD62611 $MC_TRAFO6_TFLWP_RPY

[0.0, -90.0, 0.0]

Articulated-arm kinematics

4-axis NR kinematics

]_,52

\_)/

]₊₃

\_,52

[_)/

]_)/

[_,52

\₊₃

[_:=

[₊₃

\_:=

]_:=

]₅₂

\₅₂

[₅₂

① MD62612 $MC_TRAFO6_TIRORO_POS[2]

② MD62607 $MC_TRAFO6_MAIN_LENGTH_AB[0]

③ MD62607 $MC_TRAFO6_MAIN_LENGTH_AB[1]

④ MD62608 $MC_TRAFO6_TX3P3_POS[0]

⑤ MD62610 $MC_TRAFO6_TFLWP_POS[0]

Figure 20-21

4-axis NR kinematics

Special functions

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20.5 Descriptions of kinematics

Table 20-13 Configuration data 4-axis NR kinematic

Machine data

Value

MD62600 $MC_TRAFO6_ KINCLASS

MD62605 $MC_TRAFO6_NUM_AXES

MD62603 $MC_TRAFO6_MAIN_AXES

MD62604 $MC_TRAFO6_WRIST_AXES

MD62606 $MC_TRAFO6_A4PAR

MD62601 $MC_TRAFO6_AXES_TYPE

[3, 3, 3, 3, ...]

MD62620 $MC_TRAFO6_AXIS_SEQ

[1, 2, 3, 4, 5, 6]

MD62618 $MC_TRAFO6_AXES_DIR

[1, 1, 1, 1, 1, 1]

MD62617 $MC_TRAFO6_MAMES

[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

MD62607 $MC_TRAFO6_MAIN_LENGTH_AB

[300.0, 300.0]

MD62612 $MC_TRAFO6_TIRORO_POS

[0.0, 0.0, 500.0]

MD62613 $MC_TRAFO6_TIRORO_RPY

[0.0, 0.0, 0.0]

MD62608 $MC_TRAFO6_TX3P3_POS

[300.0, 0.0, 0.0]

MD62609 $MC_TRAFO6_TX3P3_RPY

[0.0, 0.0, -90.0]

MD62610 $MC_TRAFO6_TFLWP_POS

[200.0, 0.0, 0.0]

MD62611 $MC_TRAFO6_TFLWP_RPY

[0.0, -90.0, 180.0]

See also

Definition of a joint (Page 762)

20.5.4

6-axis kinematics

6-axis kinematics usually imply 3 degrees of freedom for translation and 3 more for orientation.

This allows for the tool direction to be manipulated freely in space. Also, the tool can be rotated

along its own axis to the machining surface or inclined with a tilting angle.

This kinematic type is supported by the software, but only for very specific solutions as the

auxiliary method for this handling transformation package. A general, comprehensive and

universally applicable software version is still not available for 6-axis kinematics.

Special functions

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20.5 Descriptions of kinematics

20.5.5

Special kinematics

MD62602 $MC_TRAFO6_SPECIAL_KIN (special kinematic type)

Special kinematics are kinematics that are not directly included in the building block system

of the Handling transformation package. They are frequently missing a degree of freedom or

are characterized by mechanical links between the axes or with the tool. Set the following

machine data for these kinematics:

MD62600 $MC_TRAFO6_KINCLASS = 2 (kinematic category)

Which special kinematic is handled is specified in machine data:

MD62602 $MC_TRAFO6_SPECIAL_KIN (special kinematic type)

Special 2-axis SC kinematic

This special kinematic is characterized by the fact that the tool is always maintained in the

same orientation via a mechanical linkage. It implies two Cartesian degrees of protection. The

identifier for this kinematic is machine data:

MD62602 $MC_TARFO6_SPECIAL_KIN = 3 (special kinematic type)

[_:=

]_:=

\_:=

[_)/

]_)/

\_)/

0&B75$)2 B0$,1B/(1*7+B$%> @

[

0&B75$)2 B0$,1B/(1*7+B$%> @

,52

]

,52

[

0&B75$)2 B7,5252B326> @

]₅₂

\₅₂

Figure 20-24

Special 2-axis SC kinematic

Table 20-16 Configuring data for a special 2-axis SC kinematic

Machine data

Value

MD62600 $MC_TRAFO6_KINCLASS

MD62602 $MC_TRAFO6_SPECIAL_KIN

MD62605 $MC_TRAFO6_NUM_AXES

MD62603 $MC_TRAFO6_MAIN_AXES

MD62604 $MC_TRAFO6_WRIST_AXES

MD62601 $MC_TRAFO6_AXES_TYPE

[1, 3, 3, ...]

Special functions

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20.5 Descriptions of kinematics

Machine data

Value

MD62620 $MC_TRAFO6_AXIS_SEQ

[1, 2, 3, 4, 5, 6]

MD62618 $MC_TRAFO6_AXES_DIR

[1, 1, 1, 1, 1, 1]

MD62617 $MC_TRAFO6_MAMES

[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

MD62607 $MC_TRAFO6_MAIN_LENGTH_AB

[400.0, 500.0]

MD62612 $MC_TRAFO6_TIRORO_POS

[0.0, 0.0, 300.0]

MD62613 $MC_TRAFO6_TIRORO_RPY

[0.0, 0.0, 0.0]

MD62608 $MC_TRAFO6_TX3P3_POS

[0.0, 0.0, 0.0]

MD62609 $MC_TRAFO6_TX3P3_RPY

[0.0, 0.0, 0.0]

MD62610 $MC_TRAFO6_TFLWP_POS

[0.0, 0.0, 0.0]

MD62611 $MC_TRAFO6_TFLWP_RPY

[0.0, 0.0, 0.0]

Special 3-axis SC kinematic

The special kinematic has 2 Cartesian degrees of freedom and one degree of freedom for

orientation. The identifier for this kinematic is:

MD62602 $MC_TRAFO6_SPECIAL_KIN = 4 (special kinematic type)

0&B75$)2 B7; 3 B326> @

0&B75$)2 B7)/:3B326> @

\_:=

[_:=

]_,52

\_)/

\_,52

]

[

]_:=

[

]

,52

0&B75$)2 B7,5252B326> @

]₅₂

\₅₂

[₅₂

Figure 20-25

Special 3-axis SC kinematic

Table 20-17 Configuring data for a special 3-axis SC kinematic

Machine data

Value

MD62600 $MC_TRAFO6_KINCLASS

MD62602 $MC_TRAFO6_SPECIAL_KIN

MD62605 $MC_TRAFO6_NUM_AXES

MD62603 $MC_TRAFO6_MAIN_AXES

MD62604 $MC_TRAFO6_WRIST_AXES

MD62601 $MC_TRAFO6_AXES_TYPE

[1, 3, 3, ...]

MD62620 $MC_TRAFO6_AXIS_SEQ

[1, 2, 3, 4, 5, 6]

Special functions

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20.5 Descriptions of kinematics

Machine data

Value

MD62618 $MC_TRAFO6_AXES_DIR

[1, 1, 1, 1, 1, 1]

MD62617 $MC_TRAFO6_MAMES

[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

MD62607 $MC_TRAFO6_MAIN_LENGTH_AB

[0.0, 0.0]

MD62612 $MC_TRAFO6_TIRORO_POS

[0.0, 0.0, 400.0]

MD62613 $MC_TRAFO6_TIRORO_RPY

[0.0, 0.0, 0.0]

MD62608 $MC_TRAFO6_TX3P3_POS

[400.0, 0.0, 0.0]

MD62609 $MC_TRAFO6_TX3P3_RPY

[0.0, 0.0, -90.0]

MD62610 $MC_TRAFO6_TFLWP_POS

[200.0, 0.0, 0.0]

MD62611 $MC_TRAFO6_TFLWP_RPY

[0.0, -90.0, 180.0]

Special 4-axis SC kinematic

This special kinematic is characterized by the fact that axis 1 and axis 2 are mechanically

coupled. This coupling ensures that axis 2 is maintained at a constant angle when axis 1 is

swiveled. This kinematic also guarantees that axes 3 and 4 always remain perpendicular,

irrespective of the positions of axes 1 and 2. The identifier for this kinematic is:

MD62602 $MC_TRAFO6_SPECIAL_KIN = 7 (special kinematic type)

0&B75$)2 B7; 3 B326> @

0&B75$)2 B0$,1B/(1*7+B$%> @

]_,52

]

,52

[

,52

0&B75$)2 B7)/:3B

326> @

\_)/

0&B75$)2 B0$,1B/(1*7+B$%> @

]₅₂

\_:=

\₅₂

]_)/

]_:=

[₅₂

[_)/

[_:=

Figure 20-26

Special 4-axis SC kinematic

Table 20-18 Configuring data for a special 4-axis SC kinematic

Machine data

Value

MD62600 $MC_TRAFO6_KINCLASS

MD62602 $MC_TRAFO6_SPECIAL_KIN

MD62605 $MC_TRAFO6_NUM_AXES

MD62603 $MC_TRAFO6_MAIN_AXES

MD62604 $MC_TRAFO6_WRIST_AXES

Special functions

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20.5 Descriptions of kinematics

Machine data

Value

MD62601 $MC_TRAFO6_AXES_TYPE

[3, 3, 1, 3, ...]

MD62620 $MC_TRAFO6_AXIS_SEQ

[1, 2, 3, 4, 5, 6]

MD62618 $MC_TRAFO6_AXES_DIR

[1, 1, 1, 1, 1, 1]

MD62617 $MC_TRAFO6_MAMES

[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

MD62607 $MC_TRAFO6_MAIN_LENGTH_AB

[100.0, 400.0]

MD62612 $MC_TRAFO6_TIRORO_POS

[100.0, 0.0, 1000.0]

MD62613 $MC_TRAFO6_TIRORO_RPY

[0.0, 0.0, 0.0]

MD62608 $MC_TRAFO6_TX3P3_POS

[300.0, 0.0, 0.0]

MD62609 $MC_TRAFO6_TX3P3_RPY

[0.0, 0.0, 0.0]

MD62610 $MC_TRAFO6_TFLWP_POS

[0.0, 0.0, -600.0]

MD62611 $MC_TRAFO6_TFLWP_RPY

[0.0, 90.0, 0.0]

Special 2-axis NR kinematics

This special kinematic is characterized by the fact that axis 1 and axis 2 are mechanically

coupled. Another special feature is the tool. With this kinematic, it maintains its orientation in

space irrespective of the positions of the other axes.

The identifier for this kinematic is:

MD62602 $MC_TRAFO6_SPECIAL_KIN = 5 (special kinematic type)

Without a mechanical coupling between axis 1 and 2, it has the following identifier:

MD62602 $MC_TRAFO6_SPECIAL_KIN = 8 (special kinematic type)

0&B75$)2 B

0&B75$)2 B7; 3 B326> @

0$,1B/(1*7+B$%> @

]_,52

]_)/

]

\_,52

[_)/

[

,52

]_:=

[_:=

0&B75$)2 B

0&B75$)2 B0$,1B/(1*7+B$%> @

7,5252B326> @

\₅₂

0&B75$)2 B7,5252B326> @

[₅₂

]₅₂

Figure 20-27

Special 2-axis NR kinematics

Table 20-19 Configuration data for special 2-axis NR kinematics

Machine data

Value

MD62600 $MC_TRAFO6_KINCLASS

MD62602 $MC_TRAFO6_SPECIAL_KIN

5 (8)

Special functions

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20.6 Tool orientation

Machine data

Value

MD62605 $MC_TRAFO6_NUM_AXES

MD62603 $MC_TRAFO6_MAIN_AXES

MD62604 $MC_TRAFO6_WRIST_AXES

MD62601 $MC_TRAFO6_AXES_TYPE

[3, 3, ...]

MD62620 $MC_TRAFO6_AXIS_SEQ

[1, 2, 3, 4, 5, 6]

MD62618 $MC_TRAFO6_AXES_DIR

[1, 1, 1, 1, 1, 1]

MD62617 $MC_TRAFO6_MAMES

[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

MD62607 $MC_TRAFO6_MAIN_LENGTH_AB

[100.0, 400.0]

MD62612 $MC_TRAFO6_TIRORO_POS

[100.0, 500.0, 0.0]

MD62613 $MC_TRAFO6_TIRORO_RPY

[0.0, 0.0, -90.0]

MD62608 $MC_TRAFO6_TX3P3_POS

[400.0, 0.0, 0.0]

MD62609 $MC_TRAFO6_TX3P3_RPY

[0.0, 0.0, 0.0]

MD62610 $MC_TRAFO6_TFLWP_POS

[0.0, 0.0, 0.0]

MD62611 $MC_TRAFO6_TFLWP_RPY

[0.0, 0.0, 0.0]

20.6

Tool orientation

;

① Tool axis

Figure 20-28

Peripheral milling with 5-axis transformation

Machine data

Identifiers of the Euler angles

The identifiers with which the Euler angles are programmed in the NC program can be set

using:

MD10620 $MN_EULER_ANGLE_NAME_TAB (name of Euler angles)

Standard identifier: "A2", "B2", "C2"

Special functions

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20.6 Tool orientation

Identifier of the direction vector components

The identifier with which the components of the direction vector are programmed in the NC

program can be set using:

MD10640 $MN_DIR_VECTOR_NAME_TAB (name of normal vectors)

The tool orientation can be located in any block. Above all, it can be programmed alone in a

block, resulting in a change of orientation in relation to the tool tip which is fixed in its

relationship to the workpiece.

Channel-specific input: Euler or RPY angle

Whether the tool orientation programming is realized in the channel with Euler angle or RPY

angle can be set using:

MD21100 $MC_ORIENTATION_IS_EULER (angle definition for orientation programming)

G command for orientation interpolation

The type of interpolation for the orientation is specified using machine data:

MD21104 $MC_ORI_IPO_WITH_G_CODE = <value>

<value>

Meaning

FALSE

G commands for orientation interpolation: ORIWKS and ORIMKS

TRUE

G commands of the 51st G group for orientation interpolation: ORIAXES, ORIVECT,

ORIPLANE, ...

Channel-specific initial setting for the tool orientation

G commands of the 25th G group: "Tool orientation reference" which takes effect after a

channel or end of program reset, can be set via:

MD20150 $MC_GCODE_RESET_VALUES[ 24 ] (25. G group: tool orientation reference)

Programming

Function

The tool orientation can be programmed via:

● Directly programming the rotary axes

● Programming the Euler or RPY angle

● Programming the direction vector

The coordinate system in which motion is executed is defined using the ORIWKS and

ORIMKS commands.

Syntax

ORIWKS

ORIMKS

Special functions

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20.6 Tool orientation

Meaning

ORIWKS:

Tool orientation in the workpiece coordinate system (WCS)

In the case of a change in orientation with the tool tip at a fixed point in space, the tool

moves along a large arc on the plane extending from the start vector to the end vector.

Transitioning a tool orientation at the start of a block to an orientation at the end of the

block is only possible in the WCS.

Effective:

Modal

ORIMKS:

Tool orientation in the machine coordinate system (MCS)

In the case of a change in orientation of a tool tip at a fixed point in space, linear

interpolation takes place between the rotary axis positions.

Effective:

Modal

Note

● ORIWKS is the preferred approach for a program independent of a particular machine.

● It is not possible to program the tool orientation using Euler angles, RPY angles or direction

vectors for kinematics involving fewer than 5 axes. For 4-axis kinematics with only one

rotary axis, there is only one degree of freedom for orientation. This orientation angle can

only be programmed with orientation axis angle "A".

● Transferring an orientation using ORIMKS is not allowed in the handling transformation

package. With an active transformation, the machine axis angles are not programmed and

traversed, but rather the "orientation angles" (RPY angles according to robotics definition,

see Section "Definition of positions and orientations using frames (Page 761)").

20.6.1

Orientation programming for 4-axis kinematics

4-axis kinematics possess only one degree of freedom for orientation. When programming

orientation using RPY angle, Euler angle or direction vector, it is not always possible to

approach the specified orientation. If at all, this type of orientation programming is only practical

for certain kinematics, where there is an invariance of the orientation angle with respect to the

basis axes. This is the case for the Scara kinematics, for example.

For this reason, orientation programming is only permitted via "orientation angle" A for 4-axis

kinematics. This angle corresponds to the RPY angle C of the robot definition. This means

one rotation around the Z_RO axis, as illustrated in Fig. "Orientation angle for 4-axis kinematics".

Special functions

800

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20.6 Tool orientation

;₊₃

<₊₃

=₊₃

<_)/

=_)/

;_)/

=₅₂

<₅₂

%.6

;

=_:=

<_:=

;_:=

Virtual orientation angle

Figure 20-29

Orientation angle for 4-axis kinematics

Absolute calculation of the tool orientation for 4-axis kinematics

For 4-axis kinematics, the "virtual orientation angle" A is normally only defined within the range

-180° < A < = + 180°. This means that, in the transition from 180° to 181°, angle A jumps to

-179°. The following machine data must be set to avoid this step, and to ensure that angle A

is continually controlled:

MD62643 $MC_TRAFO6_SPECIAL_FEATURE_MASK, bit 0 = 1

As a consequence, for the following 4-axis kinematics, angle A is controlled in absolute terms:

● CC kinematics

● SC kinematics

● CS kinematics

This is on condition that the 4th axis is installed parallel to the last rotary basic axis (MD62606

$MC_TRAFO6_A4PAR == 1).

Angle A is calculated from the sum of the rotary axes. Machine data MD62617

$MC_TRAFO6_MAMES and MD62618 $MC_TRAFO6_AXES_DIR are taken into account.

If, as a result of the rotations via MD62612 $MC_TRAFO6_TIRORO_RPY and MD62611

$MC_TRAFO6_TFLWP_RPY, additional rotations are obtained, then these must be

compensated using MD62642 $MC_TRAFO6_C_ANGLE_OFFSET. In machine data

MD62642, the angle, which is displayed as "virtual orientation angle" A at the mathematical

zero position of the axes, must be entered with inverted sign.

Special functions

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20.6 Tool orientation

20.6.2

Orientation programming for 5-axis kinematics

For 5-axis kinematics, when programming via orientation vector, it is assumed that the

orientation vector corresponds to the x component of the tool.

When programming via orientation angle (RPY angle according to robotics definition), the x

component of the tool is considered the initial point for rotations.

For this purpose, the vector in the x tool direction, as shown in Fig. "Orientation angle for 5-

axis kinematic", is first rotated around the Z axis by the angle A and then around the rotated

Y axis by the angle B. The rotation by the angle C is not possible for 5-axis kinematics because

of the restricted degrees of freedom for the orientation.

]_:=

]_)/

\_)/

\_:=

[_)/

=₅₂

<₅₂

[_:=

;₅₂

%.6

Figure 20-30

Orientation angle for 5-axis kinematic

Adaptation of the flange coordinate system

This machine data is used to set the flange coordinate system on the user side so that Z can

be set as the tool direction for 5-axis kinematics:

MD62636 $MC_TRAFO6_TFL_EXT_RPY

Definition of the tool direction

In this machine data, set whether the tool direction will be calculated according to robotics

conventions or NC conventions:

MD62637 $MC_TRAFO6_TOOL_DIR

Standard definition of the tool direction

The tool calculation normally used with machine tools can be set with machine data:

MD62637 $MC_TRAFO6_TOOL_DIR = 1

This machine data also has an effect on the rotation sequence of the virtual orientation axes.

For this purpose, the vector in the Z tool direction is first turned through angle A at the X axis

Special functions

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20.8 Call and application of the transformation

and then through angle B at the rotated Y axis. The rotation by the angle C is not possible for

5-axis kinematics because of the restricted degrees of freedom for the orientation.

Note

More information can be found in:

● Function Manual, Special Functions, Section "Orientation axes"

● Programming Manual, Job Planning; Section "Orientation axes".

20.7

Singular positions and how they are handled

The calculation of the machine axes to a preset position, i.e. position with orientation, is not

always clear. Depending on the machine kinematic, there may be positions with an infinite

number of solutions. These positions are called "singular".

Singular positions

● A singular position is, for example, characterized by the fact that the fifth axis is positioned

at 0°. In this case, the singular position does not depend on a specified orientation. The

fourth axis is not specified in this position, i.e., the fourth axis does not have any influence

on the position or the orientation.

● A singular position also applies for articulated arm and SCARA kinematics if the third axis

is at 0° or 180°. These positions are called leveling/diffraction singularity.

● Another singular position exists for articulated arm kinematics if the hand point is above

the rotary axis of axis 1. This position is called overhead singularity.

Extreme velocity increase

If the path runs in close vicinity to a pole (singularity), one or several axes may traverse at a

very high velocity. Alarm 10910 "Irregular velocity run in a path axis" is then triggered.

Behavior at pole

The unwanted behavior of fast compensating movements can be improved by reducing the

velocity in the proximity of a pole. Traveling through the pole with active transformation is

usually not possible.

20.8

Call and application of the transformation

Activating

The transformation is activated by means of the TRAORI(1) command.

Once the TRAORI(1) command has been executed and the transformation thus activated,

the interface signal switches to "1":

Special functions

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20.8 Call and application of the transformation

DB21, … DBX33.6 (transformation active)

If the machine data have not been defined for an activated transformation grouping, the NC

program stops and the control displays the alarm 14100 "Orientation transformation does not

exist".

For more information, go to:

References:

Programming Manual, Production Planning,

Section: "5-axis machining"

Deactivating

The currently active transformation is deactivated by means of TRAFOOF or TRAFOOF().

Note

When the "Handling transformation package" transformation is deactivated, no preprocessing

stop and no synchronization of the preprocessing with the main run is performed.

RESET/end of program

The control behavior in terms of transformation following run-up, end of program or RESET

depends on machine data:

MD20110 $MC_RESET_MODE_MASK (definition of control basic setting na)

Bit 7:

Reset behavior of "active kinematic transformation"

Bit 7 = 0

For this reason, the initial setting is defined for active transformation after the

end of part program or RESET, according to the following machine data:

MD20140 $MC_TRAFO_RESET_VALUE (transformation data block run-up (re-

set/part program end))

Meaning:

After RESET no transformation is active.

1 to 8:

The set transformation is active according to machine data:

MD24100 $MC_TRAFO_TYPE_1 (definition of transformation 1 in

the channel)

To machine data:

MD24460 $MC_TRAFO_TYPE_8 (channel transformation 8)

Bit 7 = 1

The current setting for the active transformation remains unchanged after a

RESET or end of part program.

Special functions

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20.10 Tool programming

20.9

Actual value display

MCS machine coordinate system

The machine axes are displayed in mm/inch and/or degrees in MCS display mode.

WCS workpiece coordinate system

If the transformation is active, the tool tip (TCP) is specified in mm/inch and the orientation by

the RPY angles A, B and C in WCS display mode. The tool orientation results from turning a

vector in the Z direction firstly with A around the Z axis, then with B around the new Y axis and

lastly with C around the new X axis.

If the transformation is deactivated, the axes will be displayed with the channel axis names.

Otherwise the geometry axis names will be displayed.

20.10

Tool programming

Meaning

The tool lengths are specified in relation to the flange coordinate system. Only 3-dimensional

tool compensation is possible. Depending on which kinematic is involved, additional

restrictions for the tool exist for 5- and 4-axis kinematics. For a kinematic as illustrated in Fig.

"5-axis NR kinematic", only a 1-dimensional tool with length in the x direction is permitted.

The tool direction is dependent on the machine's initial setting, as specified with G commands

G17, G18 and G19. The tool lengths refer to the zero position specified by G17. These should

not be changed in the program.

Example

An example of a 2-dimensional tool mounted on a 5-axis Scara is described below (see Fig.

"5-axis CC kinematic"). Type 100 (cutting tool) should be specified as identification for the tool.

The tool lengths result from the specifications shown in Fig. "Tool length programming". X-

TOOL must be entered as tool length x and Y-TOOL must be entered as tool length y in the

tool parameters.

$TC_DP1[1,1 ] = 100 ;

Cutting tool type

$TC_DP3[1,1 ] = 0.0 ;

(z) length compensation vector

$TC_DP4[1,1 ] = Y-TOOL ;

(y) length compensation vector

$TC_DP5[1,1 ] = X-TOOL ;

(x) length compensation vector

Special functions

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20.12 Startup

; 722/

]₊₃

]_)/

[₊₃

[_)/

]_:=

< 722/

\₊₃

[_:=

\_:=

Figure 20-31

Tool length programming

20.11

Cartesian PTP travel with handling transformation package

It is possible to use the "Cartesian PTP travel" function with the handling transformation

package (see Section "Cartesian PTP travel (Page 42)"). For this, the following machine data

must be set:

MD24100 $MC_TRAFO_TYPE_1 = 4100 (definition of transformation 1 in the channel)

20.12

Startup

20.12.1

General commissioning

The handling transformation package is a compile cycle.

The general commissioning of a compile cycle is described in Chapter "TE01: Installation and

activation of loadable compile cycles (Page 673)".

20.12.2

Function-specific commissioning

Option

The "Handling transformation package" function is an option for which a license must be

purchased:

● Transformation Handling RCTRA, Order No.: 6FC5800-0AM31-0YB0

Special functions

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20.12 Startup

A detailed description of licensing, for instance the assignment between a license and

hardware, is provided in:

References

Commissioning Manual, CNC Commissioning: NC, PLC, Drive

Section: "Licensing"

User-specific alarm texts

To create user-specific alarm texts in conjunction with compile cycles, see Chapter "Creating

alarm texts (Page 679)"

Parameterizing transformation

Enter the transformation type into the machine data:

- MD24100 $MC_TRAFO_TYPE_1 = 4100 (definition of transformation 1 in the channel)

Enter the assignment of the channel axes involved in the transformation in the machine

data (axis numbers, starting at 1):

- MD24110 $MC_TRAFO_AXES_IN_1[0 ... 5] (axis assignment for transformation)

Enter the geometry axes corresponding to the Cartesian degrees of freedom of the machine

in the machine data:

- MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1[0 ... 2] (assignment between

geometry axis and channel axis for transformation 1)

Enter the kinematic identifier in the machine data:

- MD62600 $MC_TRAFO6_KINCLASS (kinematic category)

Enter the identifier for special kinematics, if there are any, in machine data:

- MD62602 $MC_TRAFO6_SPECIAL_KIN (special kinematic type)

Enter the number of axes in the machine data:

- MD62605 $MC_TRAFO6_NUM_AXES (number of transformed axes)

If the travel direction of the involved axes is opposed to the transformation definition, then

change the factory setting in the machine data:

- MD62618 $MC_TRAFO6_AXES_DIR[ ] (matching of physical and mathematical

directions of rotation)

Enter the data which define the basic axes:

- MD62603 $MC_TRAFO6_MAIN_AXES (basic axis identifier)

- MD62607 $MC_TRAFO6_MAIN_LENGTH_AB (basic axis lengths A and B)

Enter any changes to the axis sequence in the machine data:

- MD62620 $MC_TRAFO6_AXIS_SEQ (rearrangement of axes)

Special functions

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20.13 Supplementary conditions

10.Enter the data which define the wrist axis:

- MD62604 $MC_TRAFO6_WRIST_AXES (wrist axis identifier)

- MD62614 $MC_TRAFO6_DHPAR4_5A (parameter A for configuring the wrist axis)

- MD62615 $MC_TRAFO6_DHPAR4_5D (parameter D for configuring the wrist axis)

- MD62616 $MC_TRAFO6_DHPAR4_5ALPHA (parameter ALPHA for configuring the

wrist axis)

- MD62606 $MC_TRAFO6_A4PAR (axis 4 is parallel/anti-parallel to last basic axis)

11.Enter the geometry parameters:

- Frame T_IRO_RO

- Frame T_X3_P3

- Frame T_FL_WP

12.Enter the position in relation to the calibration point in the machine data:

- MD62617 $MC_TRAFO6_MAMES (offset between mathematical and mechanical zero

points)

13.Enter the Cartesian velocities and acceleration rates.

20.13

Supplementary conditions

Clearance control

The handling transformation package cannot be used together with the technology function:

"clearance control".

Moving to fixed end stop

The handling transformation package cannotbe used in conjunction with the "Travel to fixed

stop".

Several transformations

The handling transformation package can be activated just once per channel in all channels.

Tool programming

Tools can only be parameterized by specifying tool lengths. It is not possible to program an

orientation for the tool.

Special functions

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20.14 Data lists

Programming of orientation

The programming possibilities of the orientation depend on the number of axes available on

the machine:

● Number < 5:

- Orientation axis angle

● Number = 5:

- Orientation axis angle

- Orientation vector

Singularities

A pole cannot be directly passed through when a transformation is active.

NOTICE

Traversing close to the pole

When traversing close to the pole, the axes involved can be overloaded. This is because the

control does not automatically reduce or limit the feedrate, acceleration or jerk. As a

consequence, the user is responsible in limiting the feedrate of the axes involved and/or the

clearance to the pole.

20.14

Data lists

20.14.1

Machine data

20.14.1.1

General machine data

Number

Identifier: $MN_

Description

10620

EULER_ANGLE_NAME_TAB[n]

Name of Euler angle

19410

TRAFO_TYPE_MASK, bit 4

Option data for OEM transformation

60943

CC_ACTIVE_IN_CHAN_RCTR

Activation of the handling transformation for the corre-

sponding channels

19610

TECHNO_EXTENSION_MASK

Option data for handling transformation

Special functions

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20.14 Data lists

20.14.1.2

Channelspecific machine data

Number

Identifier: $MC_

Description

21100

ORIENTATION_IS_EULER

Angle definition for orientation programming

21110

X_AXIS_IN_OLD_X_Z_PLANE

Coordinate system with automatic FRAME definition

24100

TRAFO_TYPE_1

Definition of transformation

24110

TRAFO_AXES_IN_1

Axis assignment for transformation 1

24120

TRAFO_GEOAX_ASSIGN_TAB_1

Assignment of geometry axes to channel axes

20.14.1.3

Channel-specific machine data for compile cycles

Number

Identifier: $MC_

Description

62600

TRAFO6_KINCLASS

Kinematic category

62601

TRAFO6_AXES_TYPE

Axis type for transformation

62602

TRAFO6_SPECIAL_KIN

Special kinematic type

62603

TRAFO6_MAIN_AXES

Basic axis identifier

62604

TRAFO6_WRIST_AXES

Wrist axis identifier

62605

TRAFO6_NUM_AXES

Number of transformed axes

62606

TRAFO6_A4PAR

Axis 4 is parallel/anti-parallel to last basic axis

62607

TRAFO6_MAIN_LENGTH_AB

Basic axis lengths A and B

62608

TRAFO6_TX3P3_POS

Attachment of hand (position component)

62609

TRAFO6_TX3P3_RPY

Attachment of hand (rotation component)

62610

TRAFO6_TFLWP_POS

Frame between wrist point and flange (position compo-

nent)

62611

TRAFO6_TFLWP_RPY

Frame between wrist point and flange (rotation compo-

nent)

62612

TRAFO6_TIRORO_POS

Frame between base center point and internal system

(position component)

62613

TRAFO6_TIRORO_RPY

Frame between base center point and internal system

(rotation component)

62614

TRAFO6_DHPAR4_5A

Parameter A for configuring the hand

62615

TRAFO6_DHPAR4_5D

Parameter D for configuring the hand

62616

TRAFO6_DHPAR4_5ALPHA

Parameter ALPHA for configuring the hand

62617

TRAFO6_MAMES

Offset between mathematical and mechanical zero

points

62618

TRAFO6_AXES_DIR

Matching of physical and mathematical directions of ro-

tation

62619

TRAFO6_DIS_WRP

Mean distance between wrist point and singularity (not

used)

62620

TRAFO6_AXIS_SEQ

Rearrangement of axes

62621

TRAFO6_SPIN_ON

Configuration includes triangular or trapezoidal spin-

dles

62622

TRAFO6_SPIND_AXIS

Axis that is controlled by triangular spindle

Special functions

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20.14 Data lists

Number

Identifier: $MC_

Description

62623

TRAFO6_SPINDLE_RAD_G

Radius G for triangular spindle

62624

TRAFO6_SPINDLE_RAD_H

Radius H for triangular spindle

62625

TRAFO6_SPINDLE_SIGN

Sign for triangular spindle

62626

TRAFO6_SPINDLE_BETA

Angular offset for triangular spindle

62627

TRAFO6_TRP_SPIND_AXIS

Axes driven via trapezoidal connection

62628

TRAFO6_TRP_SPIND_LEN

Trapezoid lengths

62629

TRAFO6_VELCP

Cartesian velocities (substitute limit values for the ve-

locity controller)

62630

TRAFO6_ACCCP

Cartesian accelerations (substitute limit values for the

velocity controller)

62631

TRAFO6_VELORI

Orientation angle velocities (substitute limit values for

the velocity controller)

62632

TRAFO6_ACCORI

Orientation angle accelerations (substitute limit values

for the velocity controller)

62634

TRAFO6_DYN_LIM_REDUCE

Reduction factor for velocity controller during the JOG

travel

62635

TRAFO6_VEL_FILTER_TIME

Time constant for PT1 filter when the velocity controller

is active

62636

TRAFO6_TFL_EXT_RPY

Adaptation of the flange coordinate system

62637

TRAFO6_TOOL_DIR

Definition of the tool direction

62642

TRAFO6_C_ANGLE_OFFSET

Offset angle for C angle calculation in the BCS

62643

SPECIAL_FEATURE_MASK

Function mask

20.14.2

Signals

20.14.2.1

Signals to channel

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Activate PTP traversing

DB21, … .DBX29.4

20.14.2.2

Signals from channel

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

Transformation active

DB21,

DBX33.6

DB330x.DBX1.6

Number of the active G commands of the G group 25 (OR- DB21,

DBB232

IWKS, ORIMKS, ORIPATH)

PTP traversing active

DB21, … .DBX317.6

Special functions

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21.1

Brief description

If there are two or more separately traversable machining heads on a machine tool and a

transformation is required for machining, the orientation axes of the machining heads cannot

be coupled via the standard coupling functions COUPON, TRAILON. The couplings are

established in the workpiece coordinate system (WCS). However, under the conditions

mentioned above the coupling of the orientation axes must be performed in the machine

coordinate system (MCS).

The compile cycle "MCS coupling" can be used to parameterize couplings in the machine

coordinate system (MCS) with coupling factors "1" and "-1" for a master axis, referred to as

CC_Master in the following, and several slave axes, referred to as CC_Slave in the following.

The couplings can be switched on and off via commands in the part program.

0DFKLQLQJ KHDG

;

Figure 21-1

Application example: Double slide gantry-type milling machine

Master and slave axes

A CC_Master can be master for several CC_Slaves. A CC_Slave cannot be a CC_Master at

the same time.

The following functions are not possible for a CC_Slave:

● To be a PLC axis

● To be a command axis

● To be traversed separately from the CC_Master in JOG mode

Special functions

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21.2 Description of MCS coupling functions

Tolerance window

When the coupling is active, the actual values of the CC_Master and CC_Slave are monitored

for compliance with a parameterizable tolerance window.

Programming a CC-Slave

If a CC_Slave is programmed in a channel, either an alarm is displayed or the axis is requested

for the channel via an implicitly triggered axis interchange (GET), depending on the setting in

machine data:

MD30552 $MA_AUTO_GET_TYPE = <GET type> (automatic GET for axis)

Switching the coupling on/off

A coupling is switched on and off via OEM-specific language commands and can be active in

all operating modes.

Collision protection

In order to protect the machining heads against collision in decoupled operation or in mirrored

coupling, a collision protection can be parameterized. The activation is performed via machine

data or the NC/PLC interface. The assignment of the protected pairs is not dependent on the

CC_Master and CC_Slave pairs.

21.2

Description of MCS coupling functions

21.2.1

Defining coupling pairs

A CC_SLAVE axis is matched to its CC_Master axis via the following axial machine data:

MD63540 $MA_CC_MASTER_AXIS (specifies the CC_Master axis assigned to a CC_Slave

axis)

The axes involved in the coupling can only be changed when the coupling is not active (open).

A CC_Slave axis is displayed in axial VDI-Out byte:

DB31, ... DBX97.0 (MCS coupling: slave axis)

Precondition

● The CC_Master and CC_Slave axes must be either both rotary axes or both linear axes.

● Spindles cannot be coupled by this function.

● Neither CC_Master nor CC_Slave axis are permitted to be a interchanged axis

($MA_MASTER_CHAN[AXn]=0)

Special functions

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21.2 Description of MCS coupling functions

21.2.2

Switching the coupling ON/OFF

Activating the coupling

● Activating the 1:1 coupling. Monitoring of the tolerance window is active.

CC_COPON([<axis1>][<axis2>][<axis3>][<axis4>][<axis5>])

● Activating the 1:-1 coupling (mirror). Monitoring of the tolerance window is not active.

CC_COPONM([<axis1>][<axis2>][<axis3>][<axis4>][<axis5>])

Axis name

An axis can be specified via:

● Machine axis name

● Channel axis name

● Geometry axis name

Boundary conditions

● A programmed axis must be involved in a coupling.

● CC_Master axes, CC_Slave axes or both can be programmed simultaneously. All defined

couplings are switched on with CC_COPON or CC_COPONM.

● An alarm is output if an axis not involved in a coupling is programmed.

NC/PLC interface signals

All NC/PLC interface signals of a coupling refer to the CC_Slave axes.

● DB31, … DBX97.1 (MCS coupling: coupling active)

● DB31, ... DBX97.2 (MCS coupling: mirroring active)

● DB31, …DBX24.2 (MCS coupling: deactivate or do not permit)

If the coupling is suppressed, an alarm is not output for the CC_Slave axis.

Deactivating the coupling

CC_COPOFF([<axis1>][<axis2>][<axis3>][<axis4>][<axis5>])

As for switching on the coupling with the difference that no alarm is output if an axis is

programmed that is not involved in a coupling.

An existing coupling can also be switched off by the axial NC/PLC interface signal of the

CC_Slave axis.

Boundary condition

A coupling can only be switched on or off when the axes are at standstill.

Special functions

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21.3 Description of collision protection

21.2.3

Tolerance window

A monitoring window is specified via axial machine data:

MD63541 $MA_CC_POSITION_TOL (monitoring window)

The absolute difference between the actual values of CC_Slave axis and CC_Master axis must

never be greater than this value. Alarm 70010 is output if values are exceeded.

Monitoring is not active

● if the machine data is set to 0,

● if the coupling is switched off (open),

● if 'axis/spindle inhibit' is set for one of the axes,

● if an axis is in the 'follow-up mode',

● for the 1:-1 coupling.

If the offset stored at the instant of coupling activation changes when 1:1 coupling is active,

the change is indicated at the NC => PLC VDI-SS:

DB31, ... DBX97.3 (MCS coupling: offset change)

Note

The offset can change.

● if the SW limit monitor was active for one axis during the main run,

● if one axis has been switched to follow-up mode,

● if collision protection was active for one axis.

21.2.4

Memory configuration: Block memory

The technological function requires additional data in the NC-internal block memory. The

values must be increased for the following memory configuring channel-specific machine data:

● MD28090 $MC_MM_NUM_CC_BLOCK_ELEMENTS += 1 (number of block elements for

compile cycles)

● MD28100 $MN_MM_NUM_CC_BLOCK_USER_MEM += 1 (size of block memory for

compile cycles (DRAM) in KB)

21.3

Description of collision protection

21.3.1

Defining protection pairs

A ProtecSlave axis (PSlave) is matched to its ProtecMaster (PMaster) axis via the following

axial machine data:

Special functions

816

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21.3 Description of collision protection

MD63542 $MA_CC_PROTECT_MASTER (specifies the PMaster axis assigned to a PSlave

axis)

The protection pairs can thus be defined independently of the coupling pairs. A PSlave axis

may act as the PMaster axis for another axis. The axes must be either both rotary axes or both

linear axes.

21.3.2

Switching collision protection ON / OFF

The minimum clearance between PSlave and PMaster is provided in the axial machine data

of the PSlave axis:

MD63544 $MA_CC_COLLISION_WIN (collision protection window)

No collision protection is implemented if the value entered here is less than 0. The 0 position

offset between PSlave and PMaster is provided in the axial machine data (PSlave axis):

MD63545 $MA_CC_OFFSET_MASTER (zero point offset between PSlave and PMaster)

Before the collision protection is switched on, the monitoring function for each individual axis

must be enabled in the following machine data:

MD63543 $MA_CC_PROTECT_OPTIONS

In the same machine data for the PSlave axis, a setting is entered to specify whether the

collision protection must be active continuously or whether it is activated via VDI interface

signal (PLC => NC):

DB31, … DBX24.3

If collision protection is active, the setpoint positions of the PSlave and PMaster in the next

IPO cycle are extrapolated and monitored in the IPO clock cycle using the current setpoint

position and current velocity.

If the axes violate the minimum clearance, they are braked at the configured maximum

acceleration rate:

MD32300 $MA_MAX_AX_ACCEL (Axis acceleration)

Or at a 20% faster acceleration rate, defined in machine data:

MD63543 $MA_CC_PROTECT_OPTIONS

An alarm is output as soon as the axes reach zero speed.

WARNING

Risk of collision when starting

If the axes are forced to brake, the positions displayed in the workpiece coordinate system

are incorrect!

These are not re-synchronized again until a system RESET.

If the axes are already violating the minimum clearance when collision protection is activated,

they can only be traversed in one direction (retraction direction). The retraction direction is

configured in machine data:

MD63543 $MA_CC_PROTECT_OPTIONS

Special functions

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21.3 Description of collision protection

The collision protection status is optionally displayed in axial VDI-Out byte of the PSlave:

DB31, ... DBX66.0 (MCS coupling: collision protection active)

● DB31, … DBX66.0=1 → collision protection active

● DB31, … DBX66.0=0 → collision protection inactive

This output is activated via Bit7 in machine data of the PSlave axis:

MD63543 $MA_CC_PROTECT_OPTIONS

21.3.3

Configuring example

&&B&2//,6,21B:,1>36ODYH@

&&B3527(&7B237,216>30DVWHU@ ELW

30DVWHU

36ODYH

&&B3527(&7B237,216>36ODYH@ ELW

&&B2))6(7B0$67(5>36ODYH@

Figure 21-2

Configuring example

Note

Since the collision protection function extrapolates the target positions from the "current

velocity + maximum acceleration (or +20%)", the monitoring alarm may be activated

unexpectedly at reduced acceleration rates:

Example:

PMaster = X, PSlave = X2, $MA_CC_COLLISION_WIN = 10mm

Starting point in part program: X=0.0 X2=20.0

N50 G0 X100 X2=90

; the monitoring alarm is activated because X and X2 are interpolating together: for this reason,

the acceleration rate of X2 < maximum acceleration.

Remedy:

● N50 G0 POS[X]=100 POS[X2]=90

● or switch the monitoring function off.

Special functions

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21.5 Special operating states

21.4

User-specific configurations

Parking the machining head

In this context, "parking" means that the relevant machining head is not involved in workpiece

machining. All of the axes are in closed-loop position control and are at an exact stop.

The coupling should be active, even if only one machining head is being used for production!

This is essential primarily if only the second head (Y2

) is being for machining. "Axis/spindle

inhibit" must then be set axially (PLC -> NC) for the "parked" head.

Note

When an axis/spindle inhibit is active, a part program can be executed if this axis is not

operating under position control.

Spindle functionalities

Since an MCS coupling cannot be activated for spindles, other types of solutions should be

configured for these.

● Positioning the spindle (SPOS= ...)

Instead, a cycle is called from SPOS. SPOS is called for all active spindles in this cycle.

● Speed setpoint

Speed and direction of rotation setpoints can be detected via synchronized actions or PLC

and transferred to all other active spindles.

● Synchronous spindle function

21.5

Special operating states

Reset

The couplings can remain active after a RESET.

Reorg

No non-standard functionalities.

Block search

During a block search, the last block containing an OEM-specific language command is always

stored and then output with the last action block. This feature is illustrated in the following

examples. The output positions of the axes are always 0.

Example 1:

N01 M3 S1000

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TE6: MCS coupling - 840D sl only

21.6 Boundary conditions

N02 G01 F1000 X10 Y10

N03 CC_COPON( X, Y)

TARGET:

If this program is started normally, axes X and Z traverse to X10 Z10 in the decoupled state.

After block search to TARGET: axes X and Y traverse to this position in the coupled state!

Example 2:

N01 M3 S1000

N02 CC_COPON( X)

N03 G01 F1000 X100 Y50

N04 CC_COPOFF( X)

N05 CC_COPON( Y)

N06 Y100

N10 CC_COPOFF()

TARGET:

After block search to TARGET: the axes traverse to X100 Y100 in the decoupled state.

Example 3:

N01 CC_COPON( X, Y, Z)

N02

N10 CC_COPOFF( Z)

TARGET:

After block search to TARGET: no coupling is active!

Single block

There are no nonstandard functionalities.

21.6

Boundary conditions

Validity

The function is configured only for the first channel.

Braking behavior

Braking behavior at the SW limit with path axes

The programmable acceleration factor ACC for braking at the SW limit corresponds to the path

axes.

Special functions

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21.7 Data lists

The axes in an MCS coupling are principal axes that are referred to as geometry axes due to

their geometric arrangement.

Braking geometry axes using synchronized actions

The faster deceleration capacity as required for path axes can be implemented for geometry

axes as follows using a synchronized action:

ACC[x2]=190

Axial acceleration limitation with G0

The following machine data is not considered by the MCS coupling:

MD32434 $MA_G00_ACCEL_FACTOR (scaling of the acceleration limitation with G0)

A value deviating from the standard value affects the braking ramp up to the software limit

switch.

21.7

Data lists

21.7.1

Machine data

21.7.1.1

Channelspecific machine data

Number

Identifier: $MC_

Description

28090

NUM_CC_BLOCK_ELEMENTS

Number of block elements for compile cycles.

28100

NUM_CC_BLOCK_USER_MEM

Total size of usable block memory for compile cycles

21.7.1.2

Axis/spindlespecific machine data

Number

Identifier: $MA_

Description

63540

CC_MASTER_AXIS

Specifies the CC_Master axis assigned to a CC_Slave

axis.

63541

CC_POSITION_TOL

Monitoring window

63542

CC_PROTEC_MASTER

Specifies the PMaster axis assigned to a PSlave axis.

63543

CC_PROTEC_OPTIONS

63544

CC_COLLISION_WIN

Collision protection window

63545

CC_OFFSET_MASTER

Zero point offset between PSlave and PMaster

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21.7 Data lists

21.7.2

Signals

21.7.2.1

Signals to axis/spindle

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

MCS coupling: deactivate or do not permit

DB31, …DBX24.2

MCS coupling: Activate collision protection

DB31, ... DBX24.3

21.7.2.2

Signals from axis/spindle

Signal name

SINUMERIK 840D sl

SINUMERIK 828D

MCS coupling: Collision protection active

DB31, ... DBX66.0

MCS coupling: Following axis

DB31, …DBX97.0

MCS coupling: Coupling active

DB31, …DBX97.1

MCS coupling: Mirroring active

DB31, …DBX97.2

MCS coupling: Offset change

DB31, …DBX97.3

Special functions

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TE7: Continue machining at the contour (retrace

support) - 840D sl only

22.1

Brief description

Function

The "Continue machining - Retrace support (RESU)" technological function supports the

retracing of uncompleted 2-dimensional machining processes such as laser cutting, water jet

cutting, etc.

In the event of a fault during the machining process, e.g. loss of the laser, RESU can be used

even by machine operators who do not have specific knowledge of the active part program to

interrupt machining and travel back along the contour from the interruption point to a program

continuation point necessary for machining purposes.

After reaching the "continue machining" point, the machine operator triggers the re-machining.

As part of the retrace process, an implicit block search takes place along the contour with

calculation followed by repositioning on the contour and automatic retracing of the part program

machining process.

The possibility of retrace support within a machining program is realized by programming

RESU start and end points using the CC_PREPRE(...) procedure. The program continuation

point can be arbitrarily selected within a contour range defined in this way.

&&B35(35(

VW JHRPHWU\ D[LV

① RESU start point or start of the RESU-capable contour range

② RESU end point or end of the RESU-capable contour range

③ Example of a program continuation point

Figure 22-1

Programmed contour with program continuation and interruption points

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TE7: Continue machining at the contour (retrace support) - 840D sl only

22.2 Function description

Precise retracing of contours is possible along all programmed contours comprising straight

and circular elements. During retracing, other contour elements such as splines or

automatically inserted non-linear contour elements (circle, parable, etc. e.g. through tool radius

compensation) are mapped as straight lines between the start and end points of the

corresponding contour element, thereby preventing precise retracing of contours.

Function code

The code for the "Continue Machining - Retrace support" technological function for function-

specific identifiers of program commands, machine data, etc. is:

RESU (= REtrace SUpport)

Restrictions

The use of the "Continue Machining Retrace support" technological function is subject to the

following restrictions:

● The technological function is available only in the 1st channel of the NC.

● Program continuation or reverse travel is only possible for part program blocks that contain

traversing blocks in the configured RESU working plane (e.g. 1st and 2nd geometry axes

of the channel, see Section "Definition of the RESU working plane (Page 831)").

References

The "Continue Machining - Retrace support" technological function is a compile cycle. For the

handling of compile cycles (see Section "TE01: Installation and activation of loadable compile

cycles (Page 673)").

22.2

Function description

22.2.1

Function

Block search with calculation on contour

To be able to resume interrupted machining at a specific point in a part program, a block search

can be carried out using the "Block search with calculation on contour" standard function.

However, detailed knowledge of the part program is required to be able to enter the block

number of the part program block required for the block search (i.e. the number of the block

the search needs to locate).

Continue machining - retrace support

The "Continue machining - Retrace support" technological function supports the continuation

of the machining operation by means of an implicit block search with calculation on the contour

without the machine operator needing to know the part program block required.

Special functions

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SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 72