Content      ..     77      78      79      80     ..

SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 79

Transformation package handling

7.3 Definition of terms

$

r

% r

&

r

=

=

<

<

;

<

<

=

;

=

;

;

Figure 7-1

Example of rotation through RPY angles

7.3.3

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).

,GHQWLILHU

'HVLJQDWLRQ

,FRQV

6

6OLGLQJ MRLQW

&

6OLGLQJ MRLQW __ VZLYHO MRLQW

6ZLYHO MRLQW __ VZLYHO MRLQW

5

6ZLYHO MRLQW

6OLGLQJ MRLQW

1

6ZLYHO MRLQW

VZLYHO MRLQW

3RVLWLYH D[LV GLUHFWLRQ

)ODQJH IRU DWWDFKLQJ

3RVLWLYH D[LV GLUHFWLRQ

)/

WKH WRRO

IORZLQJ WRZDUG WKH GUDZLQJ SODQH

IORZLQJ DZD\ IURP WKH GUDZLQJ SODQH

3RVLWLYH GLUHFWLRQ RI URWDWLRQ

__

$[LV GLUHFWLRQV SDUDOOHO WR RQH DQRWKHU

7

7RRO

$[LV GLUHFWLRQV SHUSHQGLFXODU WR RQH DQRWKHU

Technologies

116

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

Transformation package handling

7.4 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

7.4.2

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).

$

;

)/

=_,52

;_:=

<_,52

<_)/

$

$

<_:=

$

;_,52

$

=_)/

=_:=

.LQHPDWLF

WUDQVIRUPDWLRQ

3URJUDPPHG

SRVLWLRQ

$

=_:6

=₅₂

<_:6

<₅₂

;₅₂

3URJUDPPDEOH )5$0(6

:.6

;_:6

%.6

Figure 7-3

Closed kinematic loop illustrated by the example of a robot

Technologies

118

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

Transformation package handling

7.4 Configuration of a kinematic transformation

5

5

=_,52

5

4

4

4

<_,52

=_,52

3

3

3

;_,52

;_,52

<_,52

=_,52

<_,52

;_,52

$

%

$

=_,52

=_,52

5

=_,52

5

5

<_,52

4

4

<_,52

4

<_,52

3

3

3

;_,52

;_,52

;_,52

$

%

$

$

$

4

3

5

%

<_,52

;_,52

=_,52

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 7-4

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.

Technologies

120

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

Transformation package handling

7.4 Configuration of a kinematic transformation

&HQWUDO KDQG

%HYHOHG KDQG ZLWK HOERZ

Figure 7-5

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 115)"):

• 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".

]

+3

]

[

[

[₊₃

Figure 7-6

Central wrist axis, 5-axis machine

Table 7-1

Configuring data for a central wrist axis

Machine data

Value

MD62604 $MC_TRAFO6_WRIST_AXES

2

MD62614 $MC_TRAFO6_DHPAR4_5A

[0.0, 0.0]

MD62615 $MC_TRAFO6_DHPAR4_5D

[0.0, 0.0]

MD62616 $MC_TRAFO6_DHPAR4_5ALPHA

[-90.0, 90.0]

Technologies

122

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

Transformation package handling

7.4 Configuration of a kinematic transformation

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".

]

]

+3

[

[

+3

[

]

① MD62614 $MC_TRAFO6_DHPAR4_5A[ 0 ]

② MD62616 $MC_TRAFO6_DHPAR4_5ALPHA[ 0 ]

③ MD62615 $MC_TRAFO6_DHPAR4_5D[ 1 ]

Figure 7-7

Inclined wrist axis, 5-axis machine

Table 7-2

Configuring data for an inclined wrist axis (5-axis

Machine data

Value

MD62604 $MC_TRAFO6_WRIST_AXES

6

MD62614 $MC_TRAFO6_DHPAR4_5A

[a4, 0.0]

MD62615 $MC_TRAFO6_DHPAR4_5D

[0.0, d5]

MD62616 $MC_TRAFO6_DHPAR4_5ALPHA

[α4, 0.0]

7B; B3

7B)/B:3

$

$

$

$

$

]

,5

2

U

[

\

T

+3

[

,5

2

\

]

)/

+

3

[

S

[

\

,5

2

+3

\

)/

]

]

)

/

7B,5

2B52

$

]

5

2

\

5

2

[

5

2

Figure 7-8

Link frames

Technologies

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

123

Transformation package handling

7.4 Configuration of a kinematic transformation

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.

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 7-3

Changing the axis sequence

Basic axis kinematics

Options for changing axis sequence

SS, CC

Any

SC

1 and 2

CS

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)

Technologies

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

125

Transformation package handling

7.4 Configuration of a kinematic transformation

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

① Kinematics 1

② Kinematics 2

Figure 7-9

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 7-10

Rearrangement of axes 2

Technologies

126

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

Transformation package handling

7.4 Configuration of a kinematic transformation

$

$

$

$

$

$

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 7-11

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)

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.

Technologies

128

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

Transformation package handling

7.5 Descriptions of kinematics

3-axis CC kinematics

&&

0'

0'

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

@

75$)2 B7)

/:3B326> @

T

]

)/

\_)/

S

[_)/

]_:=

\_:=

U

[_:=

\_,52

[_,522

]_,52

]

0'

52

\₅₂

75$)2 B7,5252B326> @

[₅₂

Figure 7-12

3-axis CC kinematics

Table 7-4

Configuration data for 3-axis CC kinematics

Machine data

Value

MD62600 $MC_TRAFO6_KINCLASS

1

MD62605 $MC_TRAFO6_NUM_AXES

3

MD62603 $MC_TRAFO6_MAIN_AXES

2

MD62604 $MC_TRAFO6_WRIST_AXES

1

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]

Technologies

132

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

Transformation package handling

7.5 Descriptions of kinematics

3-axis SC kinematics

]_)/

6&

]

U

,52

T

\_,52

\_)/

[_)/

[_,52

S

]_:=

\_:=

0'

]_,52

[_:=

75$)2 B7,5252B326> @

\_,52

[_,52

0'

0'

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

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

Figure 7-13

3-axis SC kinematics

Table 7-5

Configuration data for 3-axis SC kinematics

Machine data

Value

MD62600 $MC_TRAFO6_KINCLASS

1

MD62605 $MC_TRAFO6_NUM_AXES

3

MD62603 $MC_TRAFO6_MAIN_AXES

4

MD62604 $MC_TRAFO6_WRIST_AXES

1

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]

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]

Technologies

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

133

Transformation package handling

7.5 Descriptions of kinematics

3-axis CS kinematic

r

3

CS

z

q

FL

y

3

3

FL

x

p

FL

3

y

z

WZ

WZ

z

x

IRO

WZ

y

IRO

2

x

IRO

MD 62612:

1

TRAFO6_TIRORO_POS[2]

z

RO

y

RO

x

RO

MD 62610

:

TRAFO6_TFLWP_POS[0]

MD 62607:

TRAFO6_MAIN_LENGTH_AB[0]

Figure 7-14

3-axis CS kinematic

Table 7-6

Configuration data for 3-axis CS kinematics

Machine data

Value

MD62600 $MC_TRAFO6_KINCLASS

1

MD62605 $MC_TRAFO6_NUM_AXES

3

MD62603 $MC_TRAFO6_MAIN_AXES

6

MD62604 $MC_TRAFO6_WRIST_AXES

1

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]

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]

Technologies

134

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

Transformation package handling

7.5 Descriptions of kinematics

Articulated-arm kinematics

3-axis NR kinematics

0'

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

5

=_,52

=

)/

<

4

,52

<_)/

;_,52

3

;_)/

=_:=

<_:=

;_:=

0'

75$) B

7,5252B326> @

=₅₂

<₅₂

0'

75$)2 B

7)/:3B326> @

;₅₂

0'

75$)2 B

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

Figure 7-15

3-axis NR kinematics

Table 7-7

Configuration data 3-axis NR kinematic

Machine data

Value

MD62600 $MC_TRAFO6_KINCLASS

1

MD62605 $MC_TRAFO6_NUM_AXES

3

MD62603 $MC_TRAFO6_MAIN_AXES

3

MD62604 $MC_TRAFO6_WRIST_AXES

1

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]

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]

Technologies

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

135

Transformation package handling

7.5 Descriptions of kinematics

3-axis RR kinematics

55

0'

0'

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

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

5

=_,52

=_)/

<_,52

4

<_)/

;_,52

3

;_)/

=_:=

<_:=

;_:=

=₅₂

<₅₂

;₅₂

Figure 7-16

3-axis RR kinematics

Table 7-8

Configuration data for 3-axis RR kinematics

Machine data

Value

MD62600 $MC_TRAFO6_KINCLASS

1

MD62605 $MC_TRAFO6_NUM_AXES

3

MD62603 $MC_TRAFO6_MAIN_AXES

5

MD62604 $MC_TRAFO6_WRIST_AXES

1

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]

Technologies

136

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

Transformation package handling

7.5 Descriptions of kinematics

3-axis NN kinematics

0'

0'

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

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

4

=_)/

<_)/

;_)/

3

=_:=

5

<_:=

0'

;_:=

75$)2 B0$,1

B

/(1*7+B$%> @

<_,52

;_,52

=_,52

0'

75$)2 B7,5252B

326> @

=₅₂

<₅₂

;₅₂

Figure 7-17

3-axis NN kinematics

Table 7-9

Configuration data for 3-axis NN kinematics

Machine data

Value

MD62600 $MC_TRAFO6_KINCLASS

1

MD62605 $MC_TRAFO6_NUM_AXES

3

MD62603 $MC_TRAFO6_MAIN_AXES

7

MD62604 $MC_TRAFO6_WRIST_AXES

1

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]

7.5.2

4-axis kinematics

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

of freedom for orientation.

Technologies

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

137

Transformation package handling

7.5 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

T

S

U

[₊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 7-18

4-axis CC kinematics

Technologies

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

139

Transformation package handling

7.5 Descriptions of kinematics

Table 7-10

Configuration data for 4-axis CC kinematics

Machine data

Value

MD62600 $MC_TRAFO6_KINCLASS

1

MD62605 $MC_TRAFO6_NUM_AXES

4

MD62603 $MC_TRAFO6_MAIN_AXES

2

MD62604 $MC_TRAFO6_WRIST_AXES

1

MD62606 $MC_TRAFO6_A4PAR

1

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

U

\_)/

\_,52

T

]

[_)/

\_:=

[_,52

S

[

]_)/

[_:=

\

]_:=

]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 7-19

4-axis SC kinematics

Technologies

140

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

Transformation package handling

7.5 Descriptions of kinematics

Table 7-11

Configuration data for 4-axis SC kinematics

Machine data

Value

MD62600 $MC_TRAFO6_KINCLASS

1

MD62605 $MC_TRAFO6_NUM_AXES

4

MD62603 $MC_TRAFO6_MAIN_AXES

4

MD62604 $MC_TRAFO6_WRIST_AXES

1

MD62606 $MC_TRAFO6_A4PAR

1

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

U

T

S

]_,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 7-20

4-axis CS kinematic

Technologies

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

141

Transformation package handling

7.5 Descriptions of kinematics

Table 7-12

Configuration data for 4-axis CS kinematics

Machine data

Value

MD62600 $MC_TRAFO6_KINCLASS

1

MD62605 $MC_TRAFO6_NUM_AXES

4

MD62603 $MC_TRAFO6_MAIN_AXES

6

MD62604 $MC_TRAFO6_WRIST_AXES

1

MD62606 $MC_TRAFO6_A4PAR

1

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

U

]_,52

T

\_)/

]₊₃

\_,52

[_)/

]_)/

[_,52

\₊₃

S

[_:=

[₊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 7-21

4-axis NR kinematics

Technologies

142

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

Transformation package handling

7.5 Descriptions of kinematics

Table 7-13

Configuration data 4-axis NR kinematic

Machine data

Value

MD62600 $MC_TRAFO6_ KINCLASS

1

MD62605 $MC_TRAFO6_NUM_AXES

4

MD62603 $MC_TRAFO6_MAIN_AXES

3

MD62604 $MC_TRAFO6_WRIST_AXES

1

MD62606 $MC_TRAFO6_A4PAR

1

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 116)

7.5.3

5-axis kinematics

5-axis kinematics usually imply 3 degrees of freedom for translation and 2 for orientation.

Restrictions

The following restrictions apply to 5-axis kinematics:

1. There are restrictions for the flange coordinate system because the X flange axis must

intersect the 5th axis, nevertheless, it must not be parallel to it.

2. The frame T_FL_WP is subject to the following condition as far as 5-axis articulated-arm

kinematics are concerned:

- MD62610 $MC_TRAFO6_TFLWP_POS = [0.0, 0.0, Z] (frame between wrist point and

flange (position component))

- MD62611 $MC_TRAFO6_TFLWP_RPY = [A, 0.0, 0.0] (frame between wrist point and

flange (rotation component))

3. There are restrictions for the tool as far as 5-axis articulated-arm kinematics are concerned:

-

4. Axis parallel to the 3rd axis: 2-dimensional tool is possible [X, 0.0, Z]

–

4. Axis perpendicular to the 3rd axis: Only 1-dimensional tool is possible [X, 0.0, 0.0]

Technologies

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

143

Transformation package handling

7.5 Descriptions of kinematics

12.Specification of frame T_X3_P3 to attach hand. The offset is entered in machine data:

MD62608 $MC_TRAFO6_TX3P3_POS (attachment of hand (position component))

The rotation is entered in the machine data:

MD62609 $MC_TRAFO6_TX3P3_RPY (attachment of hand (rotation component))

13.Specification of wrist axes parameters. For this purpose, only the parameters for axis 4 must

be entered in the machine data:

MD62614 $MC_TRAFO6_DHPAR4_5A[0] (parameter A for configuring the hand)

MD62616 $MC_TRAFO6_DHPAR4_5ALPHA[0] (parameter A for configuring the hand)

All other parameters must be set to 0.0.

14.Determine the flange coordinate system. For this purpose, the hand-point coordinate system

must be regard 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

5-axis CC kinematics

0'

&&

0'

0&B75$)2 B'+3$5 B $> @

0&B75$)2 B0$,

1B

0'

/(1*7+B$%> @

0'

0&B75$)2

B7)/:3B326> @

0&B75$)2 B7; 3 B

326> @

T

]

\

]

]

+3

)/

[

[₊₃

[_)/

]_:=

S

U

[_:=

\₊₃

\_)/

\_,52

\_:=

[_,52

]_,52

0'

]₅₂

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

\₅₂

[₅₂

Figure 7-22

5-axis CC kinematics

Table 7-14

Configuration data for 5-axis CC kinematics

Machine data

Value

MD62600 $MC_TRAFO6_KINCLASS

1

MD62605 $MC_TRAFO6_NUM_AXES

5

Technologies

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

145

Transformation package handling

7.5 Descriptions of kinematics

Machine data

Value

MD62603 $MC_TRAFO6_MAIN_AXES

2

MD62604 $MC_TRAFO6_WRIST_AXES

5

MD62606 $MC_TRAFO6_A4PAR

1

MD62601 $MC_TRAFO6 _AXES_TYPE

[3, 1, 3, 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, 500.0]

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

[0.0, 0.0, -90.0]

MD62610 $MC_TRAFO6_TFLWP_POS

[200.0, 0.0, 0.0]

MD62611 $MC_TRAFO6_TFLWP_RPY

[0.0, 0.0, 0.0]

MD62614 $MC_TRAFO6_DHPAR4_5A

[200.0, 0.0]

MD62615 $MC_TRAFO6_DHPAR4_5D

[0.0, 0.0]

MD62616 $MC_TRAFO6_DHPAR4_5ALPHA

[-90.0, 0.0]

5-axis NR kinematics

15

0'

0'

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

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

]

U

,52

T

]₊₃

]_)/

]_:=

\

,52

[_:=

[_,52

\₊₃

[_)/

S

[₊₃

\)/

\

:=

0'

0'

0'

0&B75$)2 B0$,1B

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

0&B75$)2 B

/(1*7+B$%> @

7,5252B326> @

]₅₂

\₅₂

[₅₂

Figure 7-23

5-axis NR kinematics

Technologies

146

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

Transformation package handling

7.5 Descriptions of kinematics

Table 7-15

Configuration data 5-axis NR kinematic

Machine data

Value

MD62600 $MC_TRAFO6_KINCLASS

1

MD62605 $MC_TRAFO6_NUM_AXES

5

MD62603 $MC_TRAFO6_MAIN_AXES

3

MD62604 $MC_TRAFO6_WRIST_AXES

2

MD62606 $MC_TRAFO6_A4PAR

0

MD62601 $MC_TRAFO6_AXES_TYPE

[3, 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

[30.0, 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

[500.0, 0.0, 0.0]

MD62609 $MC_TRAFO6_TX3P3_RPY

[0.0, 90.0, 0.0]

MD62610 $MC_TRAFO6_TFLWP_POS

[0.0, -300.0, 0.0]

MD62611 $MC_TRAFO6_TFLWP_RPY

[-90.0, 0.0, 0.0]

MD62614 $MC_TRAFO6_DHPAR4_5A

[0.0, 0.0]

MD62615 $MC_TRAFO6_DHPAR4_5D

[0.0, 0.0]

MD62616 $MC_TRAFO6_DHPAR4_5ALPHA

[-90.0, 0.0]

See also

Definition of a joint (Page 116)

7.5.4

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.

Technologies

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

147

Transformation package handling

7.5 Descriptions of kinematics

7.5.5

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'

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

0'

$

[

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

,52

]

,52

,52

\

$

[

52

0'

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

]₅₂

\₅₂

Figure 7-24

Special 2-axis SC kinematic

Table 7-16

Configuring data for a special 2-axis SC kinematic

Machine data

Value

MD62600 $MC_TRAFO6_KINCLASS

2

MD62602 $MC_TRAFO6_SPECIAL_KIN

3

MD62605 $MC_TRAFO6_NUM_AXES

2

MD62603 $MC_TRAFO6_MAIN_AXES

2

MD62604 $MC_TRAFO6_WRIST_AXES

1

MD62601 $MC_TRAFO6_AXES_TYPE

[1, 3, 3, ...]

Technologies

148

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

Transformation package handling

7.5 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'

0'

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

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

\_:=

[_:=

]_,52

\_)/

\_,52

]

[

]_:=

)/

$

[

$

[

]

,52

)/

0'

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

\

]₅₂

\₅₂

[₅₂

$

Figure 7-25

Special 3-axis SC kinematic

Table 7-17

Configuring data for a special 3-axis SC kinematic

Machine data

Value

MD62600 $MC_TRAFO6_KINCLASS

2

MD62602 $MC_TRAFO6_SPECIAL_KIN

4

MD62605 $MC_TRAFO6_NUM_AXES

3

MD62603 $MC_TRAFO6_MAIN_AXES

2

MD62604 $MC_TRAFO6_WRIST_AXES

1

MD62601 $MC_TRAFO6_AXES_TYPE

[1, 3, 3, ...]

MD62620 $MC_TRAFO6_AXIS_SEQ

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

Technologies

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

149

Transformation package handling

7.5 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'

0'

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

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

]_,52

]

U

\

\

T

,52

[

S

[

,52

0'

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

0'

326> @

\_)/

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

]₅₂

\_:=

\₅₂

]_)/

]_:=

[₅₂

[_)/

[_:=

Figure 7-26

Special 4-axis SC kinematic

Table 7-18

Configuring data for a special 4-axis SC kinematic

Machine data

Value

MD62600 $MC_TRAFO6_KINCLASS

2

MD62602 $MC_TRAFO6_SPECIAL_KIN

7

MD62605 $MC_TRAFO6_NUM_AXES

4

MD62603 $MC_TRAFO6_MAIN_AXES

2

MD62604 $MC_TRAFO6_WRIST_AXES

1

Technologies

150

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

Transformation package handling

7.5 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'

0'

0&B75$)2 B

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

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

]_,52

]_)/

U

\

]

\

\_,52

T

)/

[_)/

S

[

[

,52

]_:=

\

:=

[_:=

0'

0'

0&B75$)2 B

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

7,5252B326> @

0'

\₅₂

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

[₅₂

]₅₂

Figure 7-27

Special 2-axis NR kinematics

Table 7-19

Configuration data for special 2-axis NR kinematics

Machine data

Value

MD62600 $MC_TRAFO6_KINCLASS

2

MD62602 $MC_TRAFO6_SPECIAL_KIN

5 (8)

Technologies

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

151

Transformation package handling

7.6 Tool orientation

Machine data

Value

MD62605 $MC_TRAFO6_NUM_AXES

2

MD62603 $MC_TRAFO6_MAIN_AXES

3

MD62604 $MC_TRAFO6_WRIST_AXES

1

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]

7.6

Tool orientation

=

$

;

%

<

① Tool axis

Figure 7-28

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)

Technologies

152

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

Transformation package handling

7.6 Tool orientation

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

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

Technologies

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

153

Transformation package handling

7.6 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 inter-

polation 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 115)").

7.6.1

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".

Technologies

154

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

Transformation package handling

7.6 Tool orientation

$

$

=₅₂

<₅₂

;₊₃

$

;₅₂

%.6

<₊₃

=₊₃

<_)/

=_)/

;_)/

=_:=

<_:=

;_:=

A

Virtual orientation angle

Figure 7-29

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.

Technologies

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

155

Transformation package handling

7.6 Tool orientation

7.6.2

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.

$

;₊₃

<₊₃

=₅₂

<₅₂

=₊₃

<

)/

<_:=

=

$

)/

=_:=

;

)/

;_:=

;₅₂

%.6

%

Figure 7-30

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

Technologies

156

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

Transformation package handling

7.8 Call and application of the transformation

When the transformation is switched on, the following NC/PLC interface signals are output:

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

DB21, ... DBB388 = ... (Index number of the active transformation in the channel)

Note

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".

Switch off

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 behavior of the controller with regard to the transformations after start-up, end of program

or reset is determined by the following machine data:

MD20110 $MC_RESET_MODE_MASK, bit 7

Bit 7

Reset behavior, "active kinematics transformation"

= 0

The initial setting for the active transformation after end of part program or

reset is defined by the following machine data:

MD20140 $MC_TRAFO_RESET_VALUE (transformation data record startup

(reset/part program end)) = <Value>

<Value>

Meaning

0

No transformation is active after reset.

1 to 8

The set transformation is active according to machine da-

ta:

MD24100 $MC_TRAFO_TYPE_1 (Definition of transforma-

tion 1 in channel)

MD24460 $MC_TRAFO_TYPE_8 (Transformation 8 in

channel)

= 1

The actual setting for the active transformation is retained after Reset or end

of part program.

Technologies

158

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

Transformation package handling

7.12 Startup

; 722/

]₊₃

]_)/

[₊₃

[_)/

]_:=

< 722/

\₊₃

\

)/

$

$

[_:=

\_:=

Figure 7-31

Tool length programming

7.11

Cartesian PTP travel with handling transformation package

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

(see Function Manual "Transformations", Chapter "Cartesian PTP travel"). For this, the following

machine data must be set:

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

7.12

Startup

7.12.1

General commissioning

The handling transformation package is a compile cycle.

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

of loadable compile cycles (Page 17)".

7.12.2

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

Technologies

160

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

Transformation package handling

7.14 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.

7.14

Data lists

7.14.1

Machine data

7.14.1.1

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

Technologies

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

163

Transformation package handling

7.14 Data lists

7.14.1.2

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

7.14.1.3

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 com-

ponent)

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 spindles

62622

TRAFO6_SPIND_AXIS

Axis that is controlled by triangular spindle

62623

TRAFO6_SPINDLE_RAD_G

Radius G for triangular spindle

Technologies

164

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

Transformation package handling

7.14 Data lists

Number

Identifier: $MC_

Description

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

Technologies

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

165

MCS coupling

8

8.1

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

0DFKLQLQJ KHDG

<

<

=

=

$

$

:

:

;

&

8

&

Figure 8-1

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

Technologies

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

167

MCS coupling

8.3 Description of collision protection

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

8.3.3

Configuring example

CC_COLLISION_WIN[PSlave]

CC_PROTECT_OPTIONS[PMaster] bit0=0

PMaster

PSlave

CC_PROTECT_OPTIONS[PSlave] bit0 = 1

CC_OFFSET_MASTER[PSlave]

Figure 8-2

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.

Technologies

172

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

MCS coupling

8.7 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.

8.7

Data lists

8.7.1

Machine data

8.7.1.1

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

8.7.1.2

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

Technologies

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

175

Continue machining (retrace support)

9

9.1

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.

QG JHRPHWU\ D[LV

1

H J VSOLQH

EORFN

1

3URJUDP FRQWLQXDWLRQ

SRLQW

1

&&B35(35(

5(326 VWDUWLQJ SRLQW

1

1

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 9-1

Programmed contour with program continuation and interruption points

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.

Technologies

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

177

Continue machining (retrace support)

9.2 Function description

QG JHRPHWU\ D[LV

1

1

1

1

&&B35(35(

1

1

1

1

&&B35(35(

1

VW JHRPHWU\ D[LV

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

② RESU end point 1 or end of the RESU-capable contour range 1

③ RESU start point 2 or start of the RESU-capable contour range 2

④ RESU end point 2 or end of the RESU-capable contour range 2

⑤ RESU straight-line as equivalent contour of the non RESU-capable contour range

Figure 9-2

RESU-capable contour ranges

9.2.2

Definition of terms

Interruption point

The interruption point is the point of the contour at which the traversing movement comes to

a standstill following an NC stop and reverse travel is activated.

Program continuation point

The program continuation point is the point of the contour at which reverse travel terminates

and program continuation is activated.

Retraceable contour range

Retraceable contour ranges consist of traversing blocks in the configured RESU working plane

(e.g. 1st and 2nd geometry axis of the channel), that are programmed in the part program

between the RESU start command CC_PREPRE(1) and the RESU stop

command CC_PREPRE(0) (see "Figure 9-2 RESU-capable contour ranges (Page 180)").

9.2.3

Functional sequence (principle)

The principle sequence of the RESU function between the interruption point, program

continuation point and continuation of part program processing is described below.

Technologies

180

Function Manual, 10/2020, 6FC5397-8GP40-0BA1

Content      ..     77      78      79      80     ..