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SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 97

Transformation definitions with kinematic chains

4.2 Commissioning

Example

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

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

Program code

Comment

N100 $NT_CLOSE_CHAIN_T[1] = "T_Off-

; 1st transformation,

set_3"

; element for closing the subchain

; to the tool reference point

4.2.4.17

$NT_TRAFO_INCLUDES_TOOL

Function

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

of the transformation must be entered in the system variable.

Syntax

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

Meaning

$NT_TRAFO_INCLUDES_TOOL:

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

transformation.

Data type:

BOOL

•

0: Tool length is handled outside of the transfor-

mation.

•

1: Tool length is handled within the transforma-

tion.

Default val-

0

ue:

<n>:

System variable or transformation index

Data type:

INT

Range of val-

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

ues:

Example

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

Program code

Comment

N100 $NT_TRAFO_INCLUDE_TOOL[1] =

; 1st transformation,

"1"

; tool length is processed within the

transformation.

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4.2 Commissioning

4.2.4.18

$NT_AUX_POS

Function

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

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

for an inch/metric switchover.

Syntax

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

Meaning

$NT_AUX_POS:

User-specific position vector

Data type:

REAL

Default value:

(0.0, 0.0, 0.0)

<n>:

System variable or transformation index

Data type:

INT

Value range:

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

<k>:

Index of the vector coordinates

Data type:

INT

Range of values:

0: X coordinate (abscissa)

1: Y coordinate (ordinate)

2: Z coordinate (applicate)

<Value>:

Coordinate value

Data type:

REAL

Example

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

Program code

Comment

; 1st transformation,

; position vector:

N100 $NT_AUX_POS[1,0] = 1.0

; X coordinate (abscissa)

N110 $NT_AUX_POS[1,1] = 1.0

; Y coordinate (ordinate)

N120 $NT_AUX_POS[1,2] = 1.0

; Z coordinate (applicate)

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Transformation definitions with kinematic chains

4.2 Commissioning

4.2.4.19

$NT_IDENT

Function

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

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

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

Syntax

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

Meaning

$NT_IDENT:

User-specific administration data

Data type:

INT

Default value:

(0, 0, 0)

<n>:

System variable or transformation index

Data type:

INT

Value range:

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

<k>:

Index of the administration data

Data type:

INT

Range of values:

0, 1, 2

<Value>:

User-specific value

Data type:

INT

Example

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

Program code

Comment

; 1st transformation,

; position vector:

N100 $NT_AUX_POS[1,0] = 1000

; identifier: Toolholder

N110 $NT_AUX_POS[1,1] = 100

; identifier: Transformation

N120 $NT_AUX_POS[1,2] = 0

; -

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Transformation definitions with kinematic chains

4.2 Commissioning

4.2.4.20

$NT_CNTRL

Function

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

influenced using bit code.

Bit

Value

Meaning

0

---

Not assigned

1 - 3

Orientation axes as speed-controlled spindles

Bit 1: 1st orientation axis

Bit 2: 2nd orientation axis

Bit 3: 3rd orientation axis

0

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

1

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

Note

The following scenarios are currently supported:

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

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

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

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

4 - 6

Orientation axes with Hirth joint

Bit 4: 1st orientation axis

Bit 5: 2nd orientation axis

Bit 6: 3rd orientation axis

0

The orientation axis is not Hirth-coupled.

1

The orientation axis is Hirth-coupled.

Note

• Parameters of the Hirth joint

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

- MD30501 $MA_INDEX_AX_NUMERATOR

- MD30502 $MA_INDEX_AX_DENOMINATOR

- MD30503 $MA_INDEX_AX_OFFSET

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

be parameterized as a genuine Hirth axis.

• Modulo rotary axes

For modulo rotary axes (MD30310 $MA_ROT_IS_MODULO==TRUE), MD30330

$MA_MODULO_RANGE is evaluated instead of MD30501 $MA_INDEX_AX_NU-

MERATOR. The distances of the permitted axis positions are then calculated for:

Distance = $MA_MODULO_RANGE / $MA_INDEX_AX_DENOMINATOR

MD30503 $MA_INDEX_AX_OFFSET is also evaluated for modulo rotary axes

7

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

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

0

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

1

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

by $NT_CLOSE_CHAIN_P (Page 42) to the machine zero point.

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Transformation definitions with kinematic chains

4.2 Commissioning

Bit

Value

Meaning

8

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

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

0

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

1

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

by $NT_CLOSE_CHAIN_T (Page 43) to the machine zero point.

9

The scope of functions of TRANSMIT or TRACYL transformations is specified more precisely. If

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

0

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

transformation.

1

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

to the center of rotation is possible.

10

0

Parameterizes TRACYL without slot side offset.

1

Parameterizes TRACYL with slot side offset.

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

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

default setting is slot side offset active

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

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

11

0

The direction of rotation of the pole axis remains unchanged.

1

The direction of rotation of the pole axis is inverted.

12 ... 15

Reserved for OEM transformations.

16 ... 18

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

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

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

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

Decimal

Order of the geometry axes

0

X

Y

Z

1

Z

X

Y

2

Y

Z

X

3

Z

Y

X

4

X

Z

Y

5

Y

X

Z

19

0

1

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

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

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

results from the corresponding definition for the local coordinate system of an axis

in kinematic chains.

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

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

angle.

20

0

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

retained.

1

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

inverted if also bit 19 is set.

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Transformation definitions with kinematic chains

4.2 Commissioning

Syntax

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

Meaning

$NT_CNTRL:

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

Data type:

INT

Default value:

0

<n>:

System variable or transformation index

Data type:

INT

Value range:

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

<Value>:

Bit-coded control value

Data type:

INT

Example

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

Program code

Comment

N100 $NT_CNTRL[1] = 'B001000000'

; 1st transformation,

4.2.4.21

$NT_BASE_TOOL_COMP

Function

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

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

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

WCS component.

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

$MC_MM_SYSTEM_FRAME_MASK bit6.

The system variable is only relevant for TRANSMIT and TRACYL.

Syntax

$NT_BASE_TOOL_COMP[<n>, <m>]

Meaning

$NT_BASE_TOOL_

Bit-coded system variable

COMP:

Data type:

INT

Default value:

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Transformation definitions with kinematic chains

4.2 Commissioning

<n>:

System variable or transformation index

Data type:

INT

Value range:

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

<m>:

Bits for coding the offset:

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

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

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

Data type:

INT

Example

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

Program code

Comment

N100 $NT_BASE_TOOL_COMP[n,0];

; Transformation "n" is compensated for

in the X-axis direction.

4.2.4.22

$NT_HIRTH_INC

Function

The increment steps of the Hirth gearing should be entered into system variable.

Hirth gearing is active for a rotary axis if this system data has a value not equal to 0. For a

specified setpoint position φ_set of a rotary axis, the actual angle set is obtained as follows:

φ_act = $NT_HIRTH_OFF[n, i] + k * $NT_HIRTH_INC[n, i]

Where k is an integer number, and is selected so that the difference between φ_act and φ_set is

minimal.

Syntax

$NT_HIRTH_INC[<n>,<k>] = "<HirthAxInc>"

Meaning

$NT_HIRTH_INC:

Increment step of the Hirth gearing

Data type:

DOUBLE

Default value:

Value range:

-

<n>:

System variable or transformation index

Data type:

INT

Value range:

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

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Transformation definitions with kinematic chains

4.2 Commissioning

<k>

Index for the elements that define the rotary axes

Data type:

INT

Value range:

0: 1st rotary axis in the definition sequence

1: 2nd rotary axis in the definition sequence

2: 3rd rotary axis in the definition sequence

4.2.4.23

$NT_HIRTH_OFF

Function

The offset for the Hirth gearing should be entered into the system variable.

Hirth gearing for a rotary axis is active if the associated system data $NT_HIRTH_INC[n, i] has a

value not equal to 0.

For a specified setpoint position PHIset of a rotary axis, the actual angle that is set is obtained as

follows φ_act = $NT_HIRTH_OFF[n, i] + k * $NT_HIRTH_INC[n, i]; where k is an integer number and

selected so that the difference between φ_act and φ_set is minimal.

Syntax

$NT_HIRTH_OFF[<n>,<k>] = "<HirthOff>"

Meaning

$NT_HIRTH_OFF

Offset for the Hirth gearing

Data type:

DOUBLE

Default value:

-

Value range:

-

<n>:

System variable or transformation index

Data type:

INT

Value range:

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

<k>:

Index for the elements that define the rotary axes

Data type:

INT

Value range:

0: 1st rotary axis in the definition sequence

1: 2nd rotary axis in the definition sequence

2: 3rd rotary axis in the definition sequence

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Transformation definitions with kinematic chains

4.3 Programming

4.3

Programming

4.3.1

Activating transformation (TRAFOON)

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

procedure. The call must be alone in a block.

Note

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

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

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

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

Syntax

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

Meaning

TRAFOON:

Procedure for activating a transformation defined with kinematic chains

<Trafoname>:

Name of the transformation data set

Data type:

STRING

Range of values:

All names of transformation data sets defined via $NK_NAME

(Page 28)

Note:

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

in $NT_NAME.

<Diameter>:

Reference or working diameter (TRACYL only)

Data type:

REAL

The value must be > 1.

<k>:

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

Data type:

BOOL

Value:

FALSE

Without groove side offset

TRUE

With groove side offset

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

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

$NT_CNTRL[<n>] applies.

Example

Program code

Comment

TRAFOON["Trans_1"]

Activates the transformation with the name Trans_1.

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Transformation definitions with kinematic chains

4.3 Programming

4.3.2

Deactivate transformation (TRAFOOF)

The predefined TRAFOOF procedure deactivates all active transformations and frames.

Note

For deselecting the transformation, the same secondary conditions apply as for selecting.

Frames required after this must be activated by renewed programming.

Syntax

TRAFOOF

Meaning

TRAFOOF:

Deactivating all active transformations/frames

4.3.3

Constraints for TRAFOON and TRAFOOF

TRAFOON

• The transformation is created when TRAFOON is called if it does not already exist.

• With TRAFOON/TRAFOOF, the machine must not move, neither axes nor spindle.

• The rotation must be activated by an S and an M command.

• The starting position of the spindle and the starting positions of the linear axes must "match"

each other.

TRAFOOF

• When TRAFOOF is called, the transformation is not deleted, so that it does not have to be

generated again when reactivating.

• With TRAFOOF, the spindle must no longer rotate (SPOS=0).

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Kinematic transformations

5.1 End face transformation TRANSMIT_K (option)

&0

<

;

;0

$60

=

=0

X, Y, Z

Geometry axes

CM

Machine axis: Rotary axis

XM

Machine axis: Linear axis, perpendicular to rotary axis

ZM

Machine axis: Linear axis, parallel to rotary axis

ASM

Machine axis: Main spindle

See also

$NT_CNTRL (Page 47)

$NT_BASE_TOOL_COMP (Page 49)

$NT_ROT_OFFSET_FROM_FRAME (Page 40)

"Kinematic chain" part program for TRANSMIT (Page 77)

$NT_TRAFO_TYPE (Page 30)

Specific settings (Page 72)

5.1.1.2

Machining options

The TRANSMIT transformation has a pole at the zero point of the TRANSMIT plane. The pole is

at the intersection of the radial linear axis and the rotary axis. In the vicinity of the pole, small

positional changes in the geometry axes generally result in large changes in position in the

machine rotary axis. The only exceptions are linear motions into or through the pole.

A tool center point path through the pole does not cause the parts program to be aborted. There

are no restrictions with respect to programmable traversing commands or active tool radius

compensations. Nevertheless, workpiece processing operations close to the pole are not

recommended since these may require sharp feedrate reductions to prevent overloading of the

rotary axis.

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Kinematic transformations

5.1 End face transformation TRANSMIT_K (option)

New features

A pole is said to exist if the line described by the tool center point intersects the center of rotation

of the rotary axis.

The following cases are covered:

• Under what conditions and by what methods the pole can be traversed

• The response in pole vicinity

• The response with respect to working area limitations

• Monitoring of rotary axis rotations over 360°.

Pole crossing

The pole can be traversed by two methods:

• Traversal along linear axis

• Traversal into pole with rotation of rotary axis in pole

Traversal along linear axis

=

<

;

① Travel into the pole

② Travel out of the pole

Figure 5-1

Traversal of x axis through pole

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Kinematic transformations

5.1 End face transformation TRANSMIT_K (option)

Rotation in pole

=

=

<

<

;

;

①

Travel into the pole

②

Travel out of the pole

Figure 5-2

Traversal of x axis into pole (a), rotation (b), exit from pole (c)

Behavior when passing through the pole

The behavior when passing through the pole is defined via the system variable

$NT_POLE_SIDE_FIX.

VALUE

Meaning

0

Pole crossing

The tool center point path (linear axis) must cross the pole on a continuous path.

1

Rotation around the pole.

The tool center point path must be restricted to a positive traversing range of the linear axis

(in front of center of rotation).

2

Rotation around the pole.

The tool center point path must be restricted to a negative traversing range of the linear axis.

(behind center of rotation).

In case of parameterization with machine data it is MD24911

$MC_TRANSMIT_POLE_SIDE_FIX_1 and MD24951 $MC_TRANSMIT_POLE_SIDE_FIX_2. The first

MD applies to the first TRANSMIT transformation in the channel and the second MD

correspondingly to the second TRANSMIT transformation.

Special features relating to pole traversal

The method of pole traversal along the linear axis may be applied in the AUTOMATIC and JOG

modes.

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Kinematic transformations

5.1 End face transformation TRANSMIT_K (option)

Behavior:

Table 5-1

Traversal of pole along the linear axis

Mode

Status

Response

AUTOMATIC

All axes involved in the transforma-

High-speed pole traversal

tion are moved synchronously.

TRANSMIT active.

Not all of the axes participating in

Traversal of pole at creep speed

the transformation are moved syn-

chronously (e.g. positioning axis).

TRANSMIT not active.

An applied DRF (external work off-

Abortion of processing, alarm

set) does not interfere with the op-

eration. Servo errors may occur

close to the pole during application

of a DRF.

JOG

-

Traversal of pole at creep speed

Special features relating to rotation in pole

Precondition: This method is only effective in the AUTOMATIC mode.

$NT_POLE_SIDE_FIX = 1 or 2

Value: 1 Linear axis remains within positive traversing range

Value: 2 Linear axis remains within negative traversing range

In the case of a contour that would require the pole to be traversed along the tool center point

path, the following three steps are taken to prevent the linear axis from traversing in ranges

beyond the center of rotation:

Step

Action

1

Linear axis traverses into pole

2

Rotary axis turns through 180°, the other axes involved in the transformation

remain stationary.

3

Execution of remaining block. The linear axis now exits from the pole again.

In JOG mode, the motion stops in the pole. In this mode, the axis may exit from the pole only

along the path tangent on which it approached the pole. All other motion instructions would

require a step change in the rotary axis position or a large machine motion in the cases of

minimum motion instructions. They are rejected with alarm 21619.

For parameterization with machine data it is MD24911 $MC_TRANSMIT_POLE_SIDE_FIX_1 = 1

or 2 or

MD24951 $MC_TRANSMIT_POLE_SIDE_FIX_2 = 1 or 2.

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Kinematic transformations

5.1 End face transformation TRANSMIT_K (option)

Traversal close to pole

If a tool center point traverses past the pole, the control system automatically reduces the

feedrate and path acceleration rate such that the settings of the machine axes (MD32000

$MA_MAX_AX_VELO[AX*] and MD32300 $MA_ MAX_AX_ACCEL[AX*]) are not exceeded. The

closer the path is to the pole, the greater the reduction in the feedrate.

Tool center point path with corner in pole

A tool center point path which includes a corner in the pole will not only cause a step change in

axis velocities, but also a step change in the rotary axis position. These cannot be reduced by

decelerating.

=

=

<

<

;

;

①

Travel into the pole

②

Travel out of the pole

Figure 5-3

Pole traversal

Requirements:

AUTOMATIC mode,

$NT_POLE_SIDE_FIX = 0

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

smallest possible rotation to allow processing of the contour to continue.

For parameterization with machine data it is MD24911 $MC_TRANSMIT_POLE_SIDE_FIX_1 = 0

or MD24951 $MC_TRANSMIT_POLE_SIDE_FIX_2 = 0.

Transformations

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Kinematic transformations

5.1 End face transformation TRANSMIT_K (option)

Corner without pole traversal

=

=

<

<

;

;

①

Travel into the pole

②

Travel out of the pole

Figure 5-4

Processing on one pole side

Requirements:

AUTOMATIC mode,

$NT_POLE_SIDE_FIX = 1 or 2

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

necessary rotation so that processing of the contour can continue on the same side of the pole.

For parameterization with machine data it is MD24911 $MC_TRANSMIT_POLE_SIDE_FIX_1 = 1

or 2 or MD24951 $MC_TRANSMIT_POLE_SIDE_FIX_2 = 1 or 2.

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Kinematic transformations

5.1 End face transformation TRANSMIT_K (option)

=

<

=

<

;

;

① Unmachinable cylinder - working area limitation

② Axis distance

Figure 5-5

Working area limitation based on offset linear axis

Traverse into working area limitation

Any motion that leads into the working area limitation is rejected with alarm 21619. Any

corresponding parts program block is not processed. The control system stops processing at the

end of the preceding block.

If the motion cannot be foreseen promptly enough (JOG modes, positioning axes), then the

control stops at the edge of the working area limitation.

Response close to working area limitation

If a tool center point traverses past the prohibited range, the control system automatically

reduces the feedrate and path acceleration rate such that the settings in the machine axes

(MD32000 $MA_MAX_AX_VELO[AX*] and MD32300 $MA_ MAX_AX_ACCEL[AX*]) are not

exceeded. The closer the path is to the working area limitation, the greater the reduction in the

feedrate may be.

5.1.1.4

Overlaid motions with TRANSMIT

The control system cannot predict overlaid motions. However, these do not interfere with the

function provided that they are very small (e.g. fine tool offset) in relation to the current distance

from the pole (or from working area limitation). With respect to axes that are relevant for the

transformation, the transformation monitors the overlaid motion and signals any critical

quantity by alarm 21618. This alarm indicates that the block-related velocity planning function

no longer adequately corresponds to the actual conditions on the machine. When the alarm is

output, the conventional, non-optimized online velocity monitor is therefore activated. The

preprocessing routine is re-synchronized with the main run by a REORG generated internally in

the control.

Alarm 21618 should be avoided whenever possible since it indicates a state that can lead to axis

overload and thus abortion of parts program processing.

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Kinematic transformations

5.1 End face transformation TRANSMIT_K (option)

• If there are two linear axes, they do not have to be orthogonal to one another.

• If there are three linear axes, two axes must be orthogonal to one another. A third axis can

be at an oblique angle to one of the other two axes. There can only be one axis pair in which

the angle of the two axes is not equal to 90°. An inclined axis cannot be positioned

perpendicularly on another axis.

Kinematic chains for end face transformations

Definition of the linear axes

• The X-axis is defined via the system variable $NT_GEO_AX_NAME[n,0]. This is the linear axis

of the actual TRANSMIT transformation. In the standard scenario, this axis is vertical on the

polar axis (see above).

• An entry in $NT_GEO_AX_NAME[n, 2] is optional. This axis (typically the Z-axis) is the

longitudinal axis. It must be defined parallel to the rotary axis ($NT_ROT_AX_NAME[n, 1]).

• An entry in $NT_GEO_AX_NAME[n, 1] is optional. This axis (typically the Y-axis) stands

vertically on the radial axis ($NT_GEO_AX_NAME[n, 0]) and the polar axis

($NT_ROT_AX_NAME[n, 1]) in the standard scenario.

This axis (the center offset axis) is generally used to compensate a tool offset in the Y direction

so that machining is possible up to the center of rotation.

Definition of a rotary axis

• The rotary axis is defined via the system variable $NT_ROT_AX_NAME[n,1]. This axis must

always be available. The direction of rotation of the rotary axis is defined via $NT_CNTRL Bit

11.

• An offset can be defined via system variable $NT_ROT_AX_OFFSET[n, 0] for the active

TRANSMIT transformation.

Defining the order of the axes

Various settings for the transformation are defined using system variable $NT_CNTRL[n]

(Page 47). With the bits 16-18, it is binary coded how the channel axes that are entered in

$NT_ROT_AX_NAME[n, 1], in $NT_GEO_AX_NAME[n. 0] and in $NT_GEO_AX_NAME[n. 2] are

assigned to the geometry axes. The three binary numbers must correspond to the following

decimal numbers:

Decimal

Order of the geometry axes

0

X

Y

Z

1

Z

X

Y

2

Y

Z

X

3

Z

Y

X

4

X

Z

Y

5

Y

X

Z

Transformations

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65

Kinematic transformations

5.1 End face transformation TRANSMIT_K (option)

5.1.2.2

Special system variables for TRANSMIT_K

System variables are available for defining the kinematic chain and the transformation. System

variables that are available for all kinematic transformations can be found at Commissioning

(Page 22).

Specific system variables are described below.

System variable

Meaning

$NT_POLE_SIDE_FIX

Limitation of the working area before and after the pole

Note

Establish a defined initial state

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

chain. For this purpose, the system variables of the kinematic chain and the transformation with

the function DELOBJ() must be set to their default values.

Change system variable values

• Modified data (e.g. $NT_xxx or $NK_yyy) become effective after NEWCONF if the data does

not concern an active transformation (attention: persistent transformations or

transformations that remain active via reset/end of part program). If the data to be activated

with NEWCONF concern an active transformation, an alarm is output.

• Modified data (e.g. $NT_xxx or $NK_yyy) only become effective after a TRAFOOF and a

subsequent NC reset or NEWCONF or program end (M30).

• Changed data (e.g. $NT_xxx or $NK_yyy) become effective after NCK-PowerOn.

5.1.2.3

$NT_POLE_SIDE_FIX

Function

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

Syntax

$NT_POLE_SIDE_FIX[<n>] = <POLESIDEFIX>

Meaning

$NT_POLE_SIDE_FIX:

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

define the rotary axes

Data type:

INT

Default value:

""

Value range:

Element names of the currently active kinematic

chain

Transformations

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Kinematic transformations

5.1 End face transformation TRANSMIT_K (option)

<n>:

System variable or transformation index

Data type:

INT

Range of values:

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

<PoleSIDEFIX>:

Limiting the work area:

•

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

•

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

is parallel to linear axis = 0).

•

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

is parallel to linear axis = 0).

Data type:

STRING

Example

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

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

Program code

Comment

; 1st transformation,

; elements of the rotary axes:

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

; 1st rotary axis

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

; 2nd rotary axis

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

; 3rd rotary axis

5.1.3

Parameterization with machine data (conventional)

5.1.3.1

Overview

Machine data: Transformation data in general

The following machine data is used to define transformation data sets in a channel:

• MD2xxxx $MC_TRAFO_TYPE_<n> (definition of the <n>th transformation in the channel)

• MD2xxxx $MC_TRAFO_AXES_IN_<n> (axis assignment for the <n>th transformation in the

channel)

• MD2xxxx $MC_TRAFO_GEOAX_ASSIGN_TAB_<n> (assignment of geometry axes to channel

axes for transformation <n>)

• MD2xxxx $MC_TRAFO_INCLUDES_TOOL_<n> (tool handling with active nth transformation)

where <n> = 1, 2, 3, ... max. number of transformation data sets

For TRANSMIT (type 256 or 257), no more than two transformation data sets may be

parameterized in a channel:

• MD2xxxx $MC_TRAFO_TYPE_<x> = <TRANSMIT type>

• MD2xxxx $MC_TRAFO_TYPE_<y> = <TRANSMIT type>

Transformations

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Kinematic transformations

5.1 End face transformation TRANSMIT_K (option)

5.1.3.2

Axis configuration

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

0'

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

&KDQQHO

0'

&KDQQHO

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

&KDQQHO

&KDQQHO

VW JHRPHWU\ D[LV > @

;

0'

QG JHRPHWU\ D[LV > @

<

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

UG JHRPHWU\ D[LV > @

=

&KDQQHO

&KDQQHO

0'

0'

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

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

&KDQQHO

&KDQQHO

&KDQQHO

&KDQQHO

VW FKDQQHO D[LV > @

;&

QG FKDQQHO D[LV > @

=&

UG FKDQQHO D[LV > @

&&

WK FKDQQHO D[LV > @

$6&

0'

0'

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

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

VW PDFKLQH D[LV >$; @

&0

QG PDFKLQH D[LV >$; @

;0

UG PDFKLQH D[LV >$; @

=0

WK PDFKLQH D[LV >$; @

$60

① Effective if TRANSMIT is active.

Note

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

be different:

• MD10000 $MN_AXCONF_MACHAX_NAME_TAB (machine axis name)

• MD20080 $MC_AXCONF_CHANAX_NAME_TAB (channel axis name)

• MD20060 $MC_AXCONF_GEOAX_NAME_TAB (geometry axis name)

Transformations

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Kinematic transformations

5.1 End face transformation TRANSMIT_K (option)

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

• MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[ 3 ] = 2 (spindle)

5.1.3.3

Specific settings

One rotary and one linear axis: TRAFO_TYPE = 256

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

$MC_TRAFO_TYPE_<n> = 256

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

Input axes of the transformation: $MC_TRAFO_AXES_IN_<n>

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

Cartesian coordinate system are to be mapped:

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

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

<Index>

Meaning

0

Linear axis, perpendicular to rotary axis

1

Rotary axis

2

Linear axis, parallel to rotary axis

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

$MC_TRAFO_GEOAX_ASSIGN_TAB_<n>.

One rotary and two linear axes: TRAFO_TYPE = 257

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

$MC_TRAFO_TYPE_<n> = 257

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

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

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

Input axes of the transformation: $MC_TRAFO_AXES_IN_<n>

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

Cartesian coordinate system are to be mapped:

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

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

<Index>

Meaning

0

Linear axis, perpendicular to rotary axis

1

Rotary axis

2

Linear axis, parallel to rotary axis

3

Linear axis perpendicular to the axes from index 0 and 1

Transformations

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Kinematic transformations

5.1 End face transformation TRANSMIT_K (option)

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

$MC_TRAFO_GEOAX_ASSIGN_TAB_<n>.

Rotary axis offset: TRANSMIT_ROT_AX_OFFSET

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

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

$MC_TRANSMIT_ROT_AX_OFFSET_<t> = <angular difference>

where <t> = 1, 2

Direction of rotation: TRANSMIT_ROT_SIGN_IS_PLUS

TRANSMIT must be informed of the rotary axis direction of rotation with the following machine

data:

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

axis rotates counterclockwise (in relation to the X/Y plane looking at the Z axis), when

traversing in the positive direction.

• The rotary axis direction of rotation with regard to TRANSMIT is negative if it rotates clockwise

when traversing in the positive direction

&0

&0

<

;

<

;

=

=

① Positive direction of rotation

② Negative direction of rotation

Figure 5-6

Rotary axis direction of rotation

$MC_TRANSMIT_ROT_SIGN_IS_PLUS_<t> = <direction of rotation>

where <t> = 1, 2

<Direction of rotation>

Meaning

0

Negative rotary axis direction of rotation ⇒ internal sign reversal

1

Positive rotary axis direction of rotation ⇒ no internal sign reversal

Transformations

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Kinematic transformations

5.1 End face transformation TRANSMIT_K (option)

Meaning

TRANSMIT:

Activate TRANSMIT with the first TRANSMIT data set

TRANSMIT(n):

Activate TRANSMIT with the nth TRANSMIT data set

Note

A TRANSMIT transformation active in the channel is activated with:

• Deactivate transformation: TRAFOOF

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

5.1.5

Constraints

Look Ahead

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

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

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

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

velocity check activated instead.

Selection of method

The user is responsible for making the optimum choice of "Traversal through pole" or "Rotation

around pole".

Several pole traversals

A block can traverse the pole any number of times (e.g. programming of a helix with several

turns). The part program block is subdivided into a corresponding number of sub-blocks.

Analogously, blocks which rotate several times around the pole are likewise divided into sub-

blocks.

Rotary axis as modulo axis

The rotary axis can be a modulo rotary axis. However, this is not a mandatory requirement as was

the case in SW 2 and 3. The relevant restrictions applying in SW 2 and 3 have been eliminated.

Rotary axis as spindle

If the rotary axis without transformation is used as a spindle, it must be switched to position-

controlled mode with SPOS before the transformation is selected.

Transformations

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Kinematic transformations

5.1 End face transformation TRANSMIT_K (option)

5.1.6.2

Example with machine data parameterization

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

&0

<

;

;0

$60

=

=0

X, Y, Z

Geometry axes

CM

1st machine axis: Rotary axis

XM

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

ZM

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

ASM

4th machine axis: Main spindle

Parameter assignment

Machine axis name

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

axis)

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

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

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

Geometry axis names

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

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

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

Channel axis names

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

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

Transformations

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Kinematic transformations

5.2 Cylinder surface transformation TRACYL_K (option)

&

;

%

=

Figure 5-7

Cylinder surface transformation (TRACYL)

The machine kinematics must correspond to the cylinder coordinate system:

• One, two or three linear axes and one rotary axis

• The linear axes must be oriented perpendicular to each other

• The rotary axis must be oriented parallel to one of the linear axes

See also

$NT_ROT_OFFSET_FROM_FRAME (Page 40)

$NT_IDENT (Page 46)

Activating transformation (TRAFOON) (Page 52)

Defining machine kinematics (Page 18)

"Kinematic chain" part program for TRACYL (Page 108)

$NT_TRAFO_TYPE (Page 30)

5.2.2

Transformation types for TRACYL

Transformation types

The transformation type is set for TRACYL using kinematic chains via $NT_TRAFO_TYPE:

$NT_TRAFO_TYPE[n] = TRACYL_K

Transformations

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Kinematic transformations

5.2 Cylinder surface transformation TRACYL_K (option)

TRACYL is available in different variants:

• Without groove side offset

• With groove side offset

• Programmable with or without slit side offset

If parameterization is done via machine data, the transformation type is set via

$MC_TRAFO_TYPE_<n> = <Transformation type>, see Specific settings (Page 96).

Slot side offset

In connection with $NT_CNTRL bit 9 = 1, you can set whether TRACYL is operated with or without

slot side offset upon activation of the transformation via TRAFOON. "Slot side active"

corresponds to transformation type 514.

If you are working with slot side offset, $NT_GEO_AX_NAME[n,1] must contain a reference to a

linear axis (slot side offset axis).

The following settings via $NT_CNTRL are possible with bit 9 and bit 10:

Bit 10

Bit 9

Description

0

0

TRACYL without slot side offset

0

1

TRACYL with slot side offset

1

0

TRACYL with the capability of switching between the functions with and without slot side

offset via a transformation parameter upon activation of the transformation (TRAFOON). The

slot side offset is inactive by default.

1

1

TRACYL with the capability of switching between the functions with and without slot side

offset via a transformation parameter upon activation of the transformation (TRAFOON). The

slot side offset is active by default.

TRACYL without slot side offset

The cylinder surface transformation without groove side offset is used in machine kinematics

with one or two linear axes (axis configuration 1).

One linear axis

For a machine kinematic with only one linear axis (X), only grooves parallel to the periphery of

the cylinder can be generated (transverse grooves).

Two linear axes

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

on the cylinder.

Transformations

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Kinematic transformations

5.2 Cylinder surface transformation TRACYL_K (option)

$60

= =0

< &0

;0

XM

Infeed axis perpendicular to the center of rotation

ZM

Linear axis parallel to the center of rotation

Y / CM

Transformatory Y axis / rotary axis

ASM

Main spindle

Figure 5-8

Machine kinematics with two linear axes

Groove edges

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

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

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

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

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

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

parallel.

Transformations

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Kinematic transformations

5.2 Cylinder surface transformation TRACYL_K (option)

=

=

<

<

;

;

① Longitudinal groove

② Transverse groove

Figure 5-9

Groove edges with TRACYL without groove side offset

Transformations

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Kinematic transformations

5.2 Cylinder surface transformation TRACYL_K (option)

TRACYL with slot side offset

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

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

= =0

$60

<0

< &0

;0

XM

Infeed axis perpendicular to the center of rotation

YM

Supplementary axis perpendicular to the X-Z plane

ZM

Linear axis parallel to the center of rotation

Y / CM

Transformatory Y axis / rotary axis

ASM

Main spindle

Figure 5-10

Machine kinematics with three linear axes

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

generated on the cylinder.

Groove edges

Because the Y axis is oriented perpendicular to the center of rotation, almost parallel groove

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

Transformations

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Kinematic transformations

5.2 Cylinder surface transformation TRACYL_K (option)

Figure 5-11

Parallel limited longitudinal groove with TRACYL with groove side offset

5.2.3

Parameterization of the kinematic chain and transformation

5.2.3.1

Parameterization of kinematics and transformation (TRACYL_K)

Setting a transformation type

The cylinder surface transformation with kinematic chains is set via the system

variable $NT_TRAFO_TYPE (Page 30).

$NT_TRAFO_TYPE[<n>] = "TRACYL_K"

For configuration via machine data, the type is set via the machine data $MC_TRAFO_TYPE_<n>

(Page 96).

Supplementary conditions

• There must be exactly one rotary axis (the polar axis), with its name in

$NT_ROT_AX_NAME[n,1].

• There can be 1 to 3 entries for linear axes in the system parameters $NT_GEO_AX_NAME[n,i].

Coordinate systems for cylinder surface transformations

The workpiece coordinate system and the basic coordinate system are independent of the world

coordinate system in which the kinematic chains are defined.

• The Z axis is parallel to the polar axis (axis B - see above) and parallel to the longitudinal axis,

if it is defined.

• The geometry axes X, Y and Z are vertical to one another and form a perpendicular coordinate

system in the order 1st, 2nd and 3rd geometry axis.

Transformations

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Kinematic transformations

5.2 Cylinder surface transformation TRACYL_K (option)

• If the longitudinal axis ($NT_GEO_AX_NAME[n, 2]) exists, it must always be parallel to the

rotary axis ($NT_ROT_AX_NAME[n, 1]).

• If there are two linear axes, they do not have to be orthogonal to one another.

• If there are three linear axes, two axes must be orthogonal to one another. A third axis can

be at an oblique angle to one of the other two axes. There can only be one axis pair in which

the angle of the two axes is not equal to 90°. An inclined axis cannot be positioned

perpendicularly on another axis.

Kinematic chains for cylinder surface transformations

Definition of the linear axes

• The X-axis is defined via the system variable $NT_GEO_AX_NAME[n,0]. This is the linear axis

of the actual TRACYL transformation. In the standard scenario, this axis is vertical on the

rotary axis (see above). The slot depth is set at this axis.

• An entry in $NT_GEO_AX_NAME[n, 1] is optional. This axis (typically the Y-axis) stands

vertically on the radial axis ($NT_GEO_AX_NAME[n, 0]) and the polar axis

($NT_ROT_AX_NAME[n, 1]) in the standard scenario.

This axis is the slot side offset axis. With this axis, the offset at the extent of the machining

cylinder is compensated when the tool radius compensation is active, so that the slot sides

remain perpendicular to the slot base.

• An entry in $NT_GEO_AX_NAME[n, 2] is optional. This axis (typically the Z-axis) is the

longitudinal axis. It must be defined parallel to the rotary axis ($NT_ROT_AX_NAME[n, 1]).

Definition of a rotary axis

• The rotary axis is defined via the system variable $NT_ROT_AX_NAME[n,1]. This axis must

always be available. The direction of rotation of the rotary axis is defined via $NT_CNTRL Bit

11.

• An offset can be defined via system variable $NT_ROT_AX_OFFSET[n, 0] for the active TRACYL

transformation.

Defining the order of the axes

Various settings for the transformation are defined using system variable $NT_CNTRL[n]

(Page 47). With the bits 16-18 it is binary coded how the channel axes that are entered in

$NT_ROT_AX_NAME[n, 1], $NT_GEO_AX_NAME[n. 0] and $NT_GEO_AX_NAME[n. 2] are

assigned to the geometry axes. The three binary numbers must correspond to the following

decimal numbers:

Decimal

Order of the geometry axes

0

X

Y

Z

1

Z

X

Y

2

Y

Z

X

3

Z

Y

X

4

X

Z

Y

5

Y

X

Z

Transformations

90

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Kinematic transformations

5.2 Cylinder surface transformation TRACYL_K (option)

5.2.4.2

Axis configuration

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

0'

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

&KDQQHO

0'

&KDQQHO

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

&KDQQHO

&KDQQHO

VW JHRPHWU\ D[LV > @

;

0'

QG JHRPHWU\ D[LV > @

<

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

UG JHRPHWU\ D[LV > @

=

&KDQQHO

&KDQQHO

0'

0'

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

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

&KDQQHO

&KDQQHO

&KDQQHO

&KDQQHO

VW FKDQQHO D[LV > @

;&

QG FKDQQHO D[LV > @

<&

UG FKDQQHO D[LV > @

=&

WK FKDQQHO D[LV > @

&&

WK FKDQQHO D[LV > @

$6&

0'

0'

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

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

VW PDFKLQH D[LV >$; @

&0

QG PDFKLQH D[LV >$; @

;0

UG PDFKLQH D[LV >$; @

<0

WK PDFKLQH D[LV >$; @

=0

WK PDFKLQH D[LV >$; @

$60

① Effective if TRACYL is active.

Note

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

be different:

• MD10000 $MN_AXCONF_MACHAX_NAME_TAB (machine axis name)

• MD20080 $MC_AXCONF_CHANAX_NAME_TAB (channel axis name)

• MD20060 $MC_AXCONF_GEOAX_NAME_TAB (geometry axis name)

Transformations

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Kinematic transformations

5.2 Cylinder surface transformation TRACYL_K (option)

Identification of spindles

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

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

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

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

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

5.2.4.3

Specific settings

Setting the transformation type

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

$MC_TRAFO_TYPE_<n> = <transformation type>

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

Axis configuration

<Transformation type>

1

512

2

513 or 514

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

with or without groove side offset (see "Programming (Page 101)").

Transformation type 514 without groove wall offset

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

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

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

to execute the part program.

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

Slots with slot side offset

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

transformation with groove side offset.

Axis image

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

Transformations

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Kinematic transformations

5.2 Cylinder surface transformation TRACYL_K (option)

Rotational position

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

axis must be defined as follows:

<

˟

˞

˟ >r@

˞

α

Rotational position of the rotary axis for C=0

β

Position of Y = 0

Figure 5-12

Center of axis rotation in the peripheral cylinder surface

MD24800 TRACYL_ROT_AX_OFFSET_<t>

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

rotary axis is specified with:

MD24800 $MC_TRACYL_ROT_AX_OFFSET_<t> = ...°

During this, <t> is replaced by the number of TRACYL transformations (<t> can be a maximum

of 2) agreed upon in the transformation datasets.

Direction of rotation

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

following paragraph.

Transformations

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5.2 Cylinder surface transformation TRACYL_K (option)

MD24820 TRACYL_BASE_TOOL_<t>

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

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

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

=

;

<&

① ty

② tx

③ tz

④ Tool zero

Figure 5-13

Position of tool zero in relation to machine zero

Example

MD24820 $MC_TRACYL_BASE_TOOL_<t>[ 0 ] = tx

MD24820 $MC_TRACYL_BASE_TOOL_<t>[ 1 ] = ty

MD24820 $MC_TRACYL_BASE_TOOL_<t>[ 2 ] = tz

with <t> = the number of TRACYL transformations agreed upon in the transformation datasets

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5.2 Cylinder surface transformation TRACYL_K (option)

=

G

˭

<

① Slot (example)

Figure 5-14

Cylinder coordinate system

5.2.5

Programming

5.2.5.1

Activating TRACYL with TRAFOON

The end face transformation (TRACYL) is activated in the part program or synchronized action by

means of the TRAFOON or TRANSMIT instructions. The slot wall correction can be activated via

a parameter of the TRAFOON/TRACYL function.

Activating a transformation with TRAFOON

In addition to the name of the transformation, the reference diameter can also be specified for

TRACYL and a setting as to whether the "Slot side offset" function is active is also possible:

TRAFOON (<transformation name>, <diameter>, <k>)

With k = 1, the slot side offset is carried out, see Activating transformation (TRAFOON) (Page 52).

Activating a transformation with type

The TRACYL transformation can also be activated with the TRACYL command. To be able to

activate a transformation parameterized with a kinematic chain with TRACYL, this must be

parameterized in the system variable $NT_TRAFO_INDEX (Page 28).

TRACYL (Page 102)

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5.2 Cylinder surface transformation TRACYL_K (option)

5.2.5.2

Activate cylinder surface transformation (TRACYL)

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

action using the TRACYL statement.

Syntax

TRACYL(<d>)

TRACYL(<d>,<n>)

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

Meaning

TRACYL(<d>):

Activate TRACYL with the first TRACYL data set and working diameter <d>

TRACYL (<d>,<n>):

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

<d>

<d>:

Reference or working diameter

The value must be greater than 1.

<n>:

TRACYL data set number (optional)

Range of values:

1, 2

<k>:

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

k = 0:

without groove side correction

k = 1:

with groove side correction

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

applies:

$MC_TRACYL_DEFAULT_MODE_<n>

With <n> = TRACYL data set number

Note

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

• Deactivate transformation: TRAFOOF

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

Example

Program code

Comment

N40 TRACYL(40.)

; Activate TRACYL with the first TRACYL data set

and working diameter 40 mm.

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① OFFN

② Programmed path

Note

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

of the groove wall.

Note

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

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

NOTICE

Effect of OFFN depends on the transformation type

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

programmed for OFFN.

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

allowance for the TRC.

Tool radius compensation (TRC)

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

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

side, statement G42 must be programmed instead of G41 or the value of OFFN specified with a

negative sign.

Tool diameter

With TRACYL and a tool whose diameter is less than the groove width, the same groove side

geometry is not generated as with a tool whose diameter is the same as the groove width. To

improve the precision, it is recommended that the tool diameter is selected to be only slightly

less than the groove width.

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5.2 Cylinder surface transformation TRACYL_K (option)

Interrupt part program

• Mode change from AUTOMATIC to JOG

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

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

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

position to the interruption location.

WARNING

Risk of collision

No monitoring for collisions takes place.

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

difficulties.

• START after RESET

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

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

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

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

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5.2 Cylinder surface transformation TRACYL_K (option)

5.2.7.2

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

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

figure.

<0

$60

=0

&0

;0

XM

Infeed axis, perpendicular to rotary axis

YM

Additional axis

ZM

Axis is parallel to rotary axis

CM

Rotary axis

ASM Main spindle

Parameter assignment

Machine axis name

• MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 0 ] = "CM"

• MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 1 ] = "XM"

• MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 2 ] = "YM"

• MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 3 ] = "ZM"

• MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 4 ] = "ASM"

Geometry axis names

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

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

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

Channel axis names

• MD20080 $MC_AXCONF_CHANAX_NAME_TAB[ 0 ] = "XC"

• MD20080 $MC_AXCONF_CHANAX_NAME_TAB[ 1 ] = "YC"

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