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SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 98

Kinematic transformations

5.2 Cylinder surface transformation TRACYL_K (option)

Programming

Producing a hook-shaped groove with groove side offset (TRACYL transformation type 513)

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Tool definition

Program code

Comment

; Tool parameters

$TC_DP1[1,1]=120

; Tool type: Milling tool

$TC_DP2[1,1] = 0

; Cutting edge position: For turning tools only

Program code

Comment

; Geometry: Length compensation

$TC_DP3[1,1]=8.

; Length compensation vector: Calculation acc. to

type

Transformations

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Kinematic transformations

5.2 Cylinder surface transformation TRACYL_K (option)

Program code

Comment

$TC_DP4[1,1]=9.

; Length compensation vector: Calculation accord-

ing to plane

$TC_DP5[1,1]=7.

Program code

Comment

; Geometry: Radius

$TC_DP6[1,1]=6.

; Radius

$TC_DP7[1,1]=0

; Groove width b for slotting saw, rounding radi-

us for milling tools

$TC_DP8[1,1]=0

; Projection k: For slotting saw only

$TC_DP9[1,1]=0

$TC_DP10[1,1]=0

$TC_DP11[1,1]=0

; Angle for tapered milling tools

Program code

Comment

; Wear: Length and radius compensation

$TC_DP12[1,1] =0

; Remaining parameters to $TC_DP24=0 (basis di-

mension/adapter)

Groove machining on the cylinder surface

Program code

Comment

N10 T1 D1 G54 G90 F5000 G94

; Tool selection, clamping compensation

N20 SPOS=0

; Switchover of the spindle to rotary axis opera-

tion, positioning at 0 degrees

N30 G0 X25 Z110

; Approach the start position

N40 TRACYL(40.)

; Activating TRACYL with the first TRACYL data set

and working diameter 40 mm

N50 G19

; Machining plane Y/Z (cylinder surface)

N60 Y70

; Positioning over the groove center

N70 G1 X15

; Infeed tool to groove base

N80 OFFN=10

; Define 10 mm groove side spacing relative to

groove center line

N90 Z100 G42

; TRC selection and approach to right groove wall

; G42: TRC right of the progr. contour (≙ groove

center)

N100 Z50

; Path I: Producing the groove section parallel

with the cylinder axis

N110 Y10

; Path I: Producing the groove section parallel

with the circumference

N120 Y70

; Path II: Producing the groove section parallel

with the circumference

N130 Z100

; Path II: Producing the groove section parallel

with the cylinder axis

Transformations

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115

Kinematic transformations

5.2 Cylinder surface transformation TRACYL_K (option)

Program code

Comment

N140 Z110 G40

; Travel away from the groove wall and TRC dese-

lection

N150 G0 X25 Y0

; Return to the initial position

N170 TRAFOOF

; Deactivate transformation

N180 M30

; End of program

5.2.7.3

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

The example refers to the 5-axis milling machine with an A- and a C-axis in the following figure.

=0

<0

630

;0

&0

&

$

$0

XM

1. axis of the machining plane

YM

2. axis of the machining plane

ZM

Infeed axis

AM

Rotary axis

CM

Rotary axis

SPM Main spindle

Parameter assignment

Machine axis name

• MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 0 ] = "XM"

• MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 1 ] = "YM"

• MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 2 ] = "ZM"

Transformations

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Kinematic transformations

5.3 Oblique angle transformation (inclined axis) TRAANG_K (option)

Program code

Comment

N80 TRACYL(179, 2)

; Selecting the Tracyl data set

2 with groove wall offset

N90 OFFN=20

; Setting the offset (half

groove width)

N100 G1 F500 X0 Z75 G42

; Setting the starting point and

selecting the TRC

N110 Y30

; Groove center path

N120 X-60

; Groove center path

N130 X0

; Groove center path

N140 Y-10

; Groove center path

N150 Z105 G40

; Retraction and deselection of

the TRC

N160 TRAFOOF

; Deselection of the transforma-

tion

N170 G0 X0 Y-20 Z115

; Positioning retract movement

N180 M5

; Spindle stop

N190 CYCLE800(0,"TABLE",100000,57,0,0,0,0,0,0,0,0,0,-1,100,1)

; Turn back A axis

N200 M30

; End of program

5.3

Oblique angle transformation (inclined axis) TRAANG_K (option)

5.3.1

Oblique angle transformation (inclined axis) TRAANG_K

Note

Option

For function "Oblique angle transformation (TRAANG) with programmable angle", option

"6FC5800-0AM28-0YB0" is necessary which requires a license.

For function "Oblique angle transformation (TRAANG) with fixed angle", option

"6FC5800-0AS54-0YB0" is necessary which requires a license.

The oblique angle transformation permits programming in the Cartesian workpiece coordinate

system (WCS) on machines with obliquely arranged machine axes, which is a typical axis

arrangement on grinding machines.

The control system transforms the programmed traversing movements of the Cartesian

coordinate system to the traversing movements of the real machine axes. This section describes

Transformations

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119

Kinematic transformations

5.3 Oblique angle transformation (inclined axis) TRAANG_K (option)

how an oblique angle transformation (TRAANG_K) is mapped by means of a kinematic chain and

parameterized in the control via system variables.

• Definition of TRAANG_K via kinematic chains. The machine kinematics are defined using two

kinematic chains, see Defining machine kinematics (Page 18). The system variables are

retentively saved in the NC and can be archived and/or read as "NC data" via SINUMERIK

Operate using the commissioning archive.

• Definition of TRAANG via machine data (Page 123).

80

˞

;

= =0

0

&0

$60

①

Grinding disk

②

Workpiece

X

Geometry axis

Z

Geometry axis

ZM

Machine axis

UM

Machine axis

α

Angle of inclined axis

CM

Machine axis (spindle)

ASM

Machine axis (tailstock)

Figure 5-15

Inclined axis

The oblique angle transformation is a special case of orientation transformation.

Transformations

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Kinematic transformations

5.3 Oblique angle transformation (inclined axis) TRAANG_K (option)

The inclined axis is generated via an offset of the linear axis:

System variable

Offset vector (X; Y; Z)

$NK_OFF_DIR[<n>,<k>] =

k

Coordinate index

<value>

0: X coordinate (abscissa)

1: Y coordinate (ordinate)

2: Z coordinate (applicate)

n

System variable or element index

<value>

Coordinate value (offset value)

Example:

$NK_OFF_DIR[<name>,0] = COS(20)

$NK_OFF_DIR[<name>,2] = SIN(20)

The axis with the name <name> is rotated with the values COS(20) (X coordinate) and SIN(20)

(Z coordinate) and remains at this value during the transformation.

Geometry axes

Then the linear axes must be assigned to the geometry axes of the transformation:

Example:

$NT_GEO_AX_NAME["name",0]

= "X axis"

$NT_GEO_AX_NAME["name",2]

= "Y axis"

$NT_GEO_AX_NAME["name",1]

= "Z axis"

Example program for TRAANG_K

You will find a simple part program using TRAANG under "Kinematic chain" part program for

TRAANG (Page 135).

See also

$NT_TRAFO_INDEX (Page 28)

5.3.2.2

System variables for TRAANG_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).

Transformations

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Kinematic transformations

5.3 Oblique angle transformation (inclined axis) TRAANG_K (option)

5.3.3.2

Axis configuration

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

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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 > @

$6&

WK FKDQQHO D[LV > @

8&

0'

0'

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

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

VW PDFKLQH D[LV >$; @

&0

QG PDFKLQH D[LV >$; @

80

UG PDFKLQH D[LV >$; @

=0

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$60

① Effective if TRAANG 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

5.3 Oblique angle transformation (inclined axis) TRAANG_K (option)

5.3.3.3

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

Transformation type for TRAANG: "1024"

Angle between longitudinal axis and inclined axis

• MD24700 $MC_TRAANG_ANGLE_<n> = <angle>

with -90° < angle < 90° , without 0°

The angle is counted positively in the clockwise direction starting at X (see Section "Oblique

angle transformation (inclined axis) TRAANG_K (Page 119)": Angle α).

Base offset of the tool zero

The base offset of the tool zero is specified for the valid geometry axes for the active

transformation. The base offset is included with and without selection of the tool length

compensation. Programmed tool length compensations are added to the base tool.

• $MC_TRAANG_BASE_TOOL_<n>[ k ] = <base offset>

with k = 0, 1, 2 (1st - 3rd geometry axis)

Note

The tool zero is not converted when the angle is changed.

Optimization of velocity control

The machine data used to optimize the velocity control in jog mode and in positioning and

oscillation modes:

Speed margin

The machine data sets the speed margin for the compensation movements of the longitudinal

axis:

MD24720 $MC_TRAANG_PARALLEL_VELO_RES_<n> = <value>

<value>

Meaning

0.0

The speed margin is determined by the NC depending on the angle of the inclined axis

and the speed capability of the inclined and the longitudinal axis so that the same

speed limitation results in the direction of the longitudinal axis and of the associated

perpendicular (virtual) axis.

> 0.0

Speed margin = <value> * (MD32000 $MA_MAX_AX_VELO of the longitudinal axis)

Transformations

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127

Kinematic transformations

5.3 Oblique angle transformation (inclined axis) TRAANG_K (option)

Acceleration margin

The machine data sets the acceleration margin for the compensation movements of the

longitudinal axis:

$MC_TRAANG_PARALLEL_ACCEL_RES_<n> = <value>

<value>

Meaning

0.0

The acceleration margin is determined by the NC depending on the angle of the in-

clined axis and the acceleration capability of the inclined and the longitudinal axis so

that the same acceleration limitation results in the direction of the longitudinal axis

and of the associated perpendicular (virtual) axis.

> 0.0

Acceleration margin = <value> * (MD32300 $MA_MAX_AX_ACCEL of the longitudinal

axis)

M code for transformation change

The specified M code is output for switching the transformation:

• MD22534 $MC_TRAFO_CHANGE_M_CODE = <value>

WARNING

No M code is output.

The values 0 to 6, 17 and 30 are not output to the PLC.

5.3.4

Programming

5.3.4.1

Activating TRAANG with TRAFOON

The oblique angle transformation (TRAANG) is activated in the part program or synchronized

action by means of the TRAFOON or TRAANG instructions.

Activating a transformation with TRAFOON

The TRAANG transformation is activated via the name of the transformation:

TRAFOON (<transformation name>)

See Activating transformation (TRAFOON) (Page 52).

Activating a transformation with type

The TRAANG transformation can also be activated using the following commands. To be able to

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

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

Activating an oblique angle transformation with programmable angle (TRAANG) (Page 129) or

Activate oblique angle transformation with fixed angle (TRAANG) (Page 130)

Transformations

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Kinematic transformations

5.3 Oblique angle transformation (inclined axis) TRAANG_K (option)

5.3.4.2

Activating an oblique angle transformation with programmable angle (TRAANG)

The oblique angle transformation with programmable angle is activated in the part program or

synchronized action using the TRAANG statement.

Restriction for kinematic chains

For a parameterization with machine data, the angle α of the inclined axis with respect to the

corresponding coordinate axis is defined in a rectangular coordinate system via machine data.

The angle α can be changed when called via TRAANG(<α>). A changed angle results in a change

to the kinematic model, so other applications may also be affected by this. A specification of the

angle is therefore only permissible if the angle is identical with the angle resulting from the

kinematic chain.

Note

Angle definition

The angle is only defined if the inclined axis results from the rotation around a coordinate axis.

There is therefore only one geometry axis, which is not parallel to one of the coordinate axes and

lies in the main plane.

Syntax

TRAANG

TRAANG()

TRAANG(, <n>)

TRAANG(<α>)

TRAANG(<α>,<n>)

Meaning

TRAANG:

Activate TRAANG with the first TRAANG data set and last valid angle <α>

TRAANG():

TRAANG(, <n>):

Activate TRAANG with the <n>th TRAANG data set and last valid angle

<α>

TRAANG(<α>):

Activate TRAANG with the first TRAANG data set and angle <α>

TRAANG(<α>,<n>):

Activate TRAANG with the <n>th TRAANG data set and angle <α>

<α>:

Angle of the inclined axis (optional)

Value range:

-90° < α < + 90°

The initial state parameterized in the machine data is effective if an angle

is not specified:

MD2xxxx $MC_TRAANG_ANGLE_<n>

<n>:

TRAANG data set number (optional)

Value range:

1, 2

Transformations

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129

Kinematic transformations

5.3 Oblique angle transformation (inclined axis) TRAANG_K (option)

Note

Oblique angle transformation TRAANG active in the channel is deactivated using:

• Deactivate transformation: TRAFOOF

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

Example

Program code

Comment

N20 TRAANG(45)

; Activate TRAANG with the first TRAANG data set and angle 45°

5.3.4.3

Activate oblique angle transformation with fixed angle (TRAANG)

The oblique angle transformation (TRAANG) with a fixed angle (TRAANG) is activated in the part

program or synchronized action using the TRAANG statement. When activated, it is not

permissible that an angle is specified.

The angle parameterized in the machine data of the particular TRAANG data set is active.

For a kinematic chain it is the angle resulting from the definition of the kinematic chain.

Syntax

TRAANG

TRAANG()

TRAANG(, <n>)

Meaning

TRAANG:

Activate TRAANG with the first TRAANG data set and angle <α> from

machine data MD24700 $MC_TRAANG_ANGLE_1

TRAANG():

TRAANG(, <n>):

Activate TRAANG with <n>th TRAANG data set and angle <α> from ma-

chine data MD2xxxx $MC_TRAANG_ANGLE_<n>

<n>:

TRAANG data set number (optional)

Value range:

1, 2

Note

Oblique angle transformation TRAANG active in the channel is deactivated using:

• Deactivate transformation: TRAFOOF

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

Transformations

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Kinematic transformations

5.3 Oblique angle transformation (inclined axis) TRAANG_K (option)

Example

Program code

Comment

N20 TRAANG(,2)

; Activate TRAANG with second TRAANG data set and the angle

; from MD24750 $MC_TRAANG_ANGLE_2.

5.3.4.4

Oblique plunge-cutting on grinding machines (G5, G7)

The G commands G7 and G5 are used to simplify programming of oblique plunge-cutting on

grinding machines with "inclined axis (TRAANG)", so that when plunge cutting, only the inclined

axis is traversed.

Only the required end position of the plunge-cutting motion has to be programmed in X and Z.

For G7, starting from the actual position of the X axis, the NC calculates and approaches the

programmed end position and angle α of the inclined axis.

The starting position is calculated from the point where the two straight lines intersect:

• Straight line parallel to the Z axis, at a distance from the actual position of the X axis

• Straight line parallel to the inclined axis through the programmed end position

With the subsequent G5, the inclined axis is traversed to the programmed end position.

Syntax

G7 <Endpos_X> <Endpos_Z>

G5 <Endpos_X>

Meaning

G7:

Calculate the starting position for the oblique plunge-cutting and approach.

G5:

Traverse the inclined axis to the programmed end position

<Endpos_X>:

X axis end position

<Endpos_Z>:

End position of the Z axis

Transformations

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131

Kinematic transformations

5.3 Oblique angle transformation (inclined axis) TRAANG_K (option)

Example

˞

80

;

1

1

= =0

0

&0

$60

①

Grinding wheel

②

Workpiece

③

Parallel to the inclined axis through the programmed end position

④

Starting position

⑤

Plunge-cutting: Starting position

⑥

Plunge-cutting: End position

⑦

Parallel to the Z axis, at a distance from the actual position of the X axis

X

Geometry axis

Z

Geometry axis

ZM

Machine axis

UM

Machine axis

Figure 5-16

Programming an inclined axis

Program code

Comment

N... G18

; Select XZ plane.

N40 TRAANG (45.0)

; Activate TRAANG transformation, angle = 45°

N50 G7 X40 Z70 F4000

; Calculate the starting position and approach

N60 G5 X40 F100

; Traverse inclined axis to the end position.

N70 ...

5.3.5

Boundary conditions

The transformation can be selected and deselected via part program or MDA.

Transformations

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Kinematic transformations

5.3 Oblique angle transformation (inclined axis) TRAANG_K (option)

5.3.6.2

Example

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

80

˞

;

= =0

0

&0

$60

①

Grinding disk

②

Workpiece

X

Geometry axis

Z

Geometry axis

ZM

Machine axis

UM

Machine axis

α

Angle of inclined axis

CM

Machine axis (spindle)

ASM

Machine axis (tailstock)

Figure 5-17

Inclined axis

Parameterization

Machine axis name

• MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 0 ] = "CM"

• MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 1 ] = "UM"

• MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 2 ] = "ZM"

• MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 3 ] = "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)

Transformations

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Kinematic transformations

5.4 Rotary interpolation transformation TRAINT (option)

5.4

Rotary interpolation transformation TRAINT (option)

5.4.1

Function

5.4.1.1

Interpolation turning (TRAINT)

Interpolation turning (turning on a milling machine)

The "interpolation turning" function is intended to provide the user on a suitable machine tool

(e.g. milling machine, turning machine with three linear axes) with the environment of a simple

turning machine so that the NC commands and cycles function as on a turning machine. For this

purpose, the rotary motion is converted within the control into a circular motion of the linear

axes by means of a transformation and accordingly, the cutting edge of the tool is always aligned

with the center of rotation during the motion. The rotation does not take place through an axis

of rotation of the machine, but through a traversing movement of linear axes x, y and z, from

which a circular movement results. This distinguishes the "interpolation turning" function from

the "turning on milling machine" functionality. The axis of rotation can be selected as the center

of the turning operations and of the spindle at any mechanically accessible workpiece position

and can be freely oriented in space for 4 or 5-axis machines.

Figure 5

-18

Interpolation turning

Transformations

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Kinematic transformations

5.4 Rotary interpolation transformation TRAINT (option)

Example of kinematics

The example shows a 5-axis milling machine in AC kinematics. In the code example you will find

the definition of the kinematic chain with the corresponding definition of the TRAINT

transformation.

Table 5-2

5-axis milling machine in AC table kinematics

<

;

=

=

Kinematic chain

① World coordinate system

② Rotary axis 2 (A axis)

③ Tool reference point (end of the part chain)

④ Tool reference point (end of the tool chain)

⑤ Rotary axis 1 (C axis = spindle) parallel to the z axis

5-axis machine

Transformations

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Kinematic transformations

5.4 Rotary interpolation transformation TRAINT (option)

•

TRAINT is incompatible with the following function calls:

- CUT3DF, CUT3DFS, CUT3DFF, CUT3DFD, CUT3DC, CUT3DCD, CUT3DCCD

- PTP, PTPG0, PTPWOC

- G17, G19

- G331, G332, G335, G336, G33, G34, G35

- TOFFON

- TOWWCS, TOWMCS, TOWBCS, TOWTCS, TOWKCS

- DIAMONA, DIACYCOFA, DIAM90A, DIAMCHANA, DIAMOFA

- G63

- G961, G962, G97, G971, G972

- LFON

- DRIVE, BRISK

- SPCOF

- A call of the G code or function generates an alarm.

•

A frame change is not possible during an active TRAINT because the current frame is the

center of the transformation.

•

Calling the following G codes or functions generates an alarm:

- G5x (G500, G54…-G599) TRANS, ROT, MIRROR, SCALE, ATRANS AROT, AMIRROR, ASCALE

- SUPA, G153, SUPD, G53

Recommendations

It is recommended to set the following setting data as follows so that the assignment of the tool

length components (length, wear and basic dimension) and the tool orientation components of

turning and grinding tools (tool types 400 to 599) to the geometry axes is not changed when the

machining plane (G17 - G19) is changed.

SD

Identifier

Recommenda-

Description

tion

42940

$SC_TOOL_LENGTH_CONST

17

L1=Z, L2=Y, L3=X

42942

$SC_TOOL_LENGTH_CONST_T

19

L1=Z, L2=Y, L3=X

42950

$SC_TOOL_LENGTH_TYPE

3

Evaluation of SD 42942

42954

$SC_TOOL_ORI_CONST_M

0

Orientation depending on G17,18,19

42956

$SC_TOOL_ORI_CONST_T

18

Orientation vector (0,1,0)

It is recommended that the following machine data be set as follows to ensure that the dynamic

distribution between path motion (x-z motion) and circular motion is optimal.

MD

Identifier

Recommendation

Description

25500

$MC_IPT_AXIS_DYNAMIC_FACTORS [0]

0.1

default

25500

$MC_IPT_AXIS_DYNAMIC_FACTORS [1]

0.5

default

25500

$MC_IPT_AXIS_DYNAMIC_FACTORS [2]

0.5

default

Transformations

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Kinematic transformations

5.4 Rotary interpolation transformation TRAINT (option)

MD

Identifier

Recommendation

Description

25500

$MC_IPT_AXIS_DYNAMIC_FACTORS [3]

0.8

default

25500

$MC_IPT_AXIS_DYNAMIC_FACTORS [4]

0.8

default

It is recommended that the machine data MD35030 $MA_SPIND_DEFAULT_ACT_MASK is set as

follows: Thus, the spindle goes again into speed control mode upon reset.

MD

Identifier

Recommenda-

Description

tion

35030

$MA_SPIND_DE-

2

Default = 0

FAULT_ACT_MASK[<Spindle>]

It is recommended to set the following setting data as follows so that the position display of the

axes always takes place in the WCS to clearly indicate that Y position = 0.

MD

Identifier

Recommendation

Description

51037

$MNS_ENABLE_COORDINATE_ACS

0

Y position = 0

Transformations

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Kinematic transformations

5.5 Chained transformations

See also

$NT_TRACON_CHAIN (Page 160)

$NT_TRAFO_INDEX (Page 28)

5.5.2

Additive system variables for transformation chains (TRACON_K)

5.5.2.1

$NT_TRACON_CHAIN

Function

For chained transformations ($NT_TRAFO_TYPE[...] = "TRACON_K") with this system variable,

the names of the part transformations are specified in the order in which the transformation of

the BKS to the MKS is to be carried out.

Syntax

$NT_TRACON_CHAIN[<n>,<m>] = "<Name>"

Meaning

$NT_TRACON_CHAIN:

System variable for specifying the partial transformations for

chained transformations

<n>:

System variable or transformation index

Data type:

INT

Range of values:

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

FOS - 1)

<m>:

Position of the partial transformation in the transformation chain

Data type:

INT

Range of values:

0, 1

<name>:

Name of the partial transformation

Data type:

STRING

Example

Program code

Comment

N2502 $NT_TRACON_CHAIN[2,0] = "Open Architecture Transformation"

; Partial transformation 1

N2503 $NT_TRACON_CHAIN[2,1] = "Inclined axis"

; Partial transformation 2

Transformations

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5.5 Chained transformations

5.5.3.2

System variables

The following transformation-specific system variables are available:

System variable

Meaning

$AA_ITR

Current setpoint value at output of the nth transformation

$AA_IBC

Current setpoint value of a cartesian axis

$VA_ITR

Current actual value at output of the nth transformation

$VA_IBC

Current cartesian BCS encoder position of an axis

$VA_IW

Current WCS actual value of an axis

$VA_IB

Current BCS encoder position of an axis

Boundary conditions

• Warm restart

The encoder position has the value 0 for non-referenced axes. For the $VA variables, the

encoder actual values are appropriately inverse-transformed.

• Channel reset

The active transformation can change after a channel reset. This can have a direct influence

on the system variable values.

An active transformation, which is active again after a channel reset, is briefly deactivated

and then reactivated. This influences the position variables. The values of variables can

change.

Via the variable:

$AC_STAT == 0

this status can be queried in synchronous actions.

$AA_ITR: Actual setpoint value at output of the nth transformation

System variable $AA_ITR[ <axis>, <transformation layer> ] determines the setpoint position of

an axis at the output of the n th cascaded transformation.

\

\

\

\

\

[

[

[

[

[

%&6

7UDQVI

7UDQVI

0&6

7UDQVI

7UDQVI

Figure 5-19

Transformer layer

Transformations

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Kinematic transformations

5.5 Chained transformations

Meaning

TRACON:

Activate concatenated transformation

If another transformation was previously activated, it is implicitly

disabled by means of TRACON().

<Trafo_No>:

Number of the concatenated transformation

Type:

INT

Value range:

0 ... 2

Value:

0, 1

First/only concatenated transformation

2

Second concatenated transformation

Not

Same meaning as with 0 or 1

speci-

fied

Note:

Values not equal to 0, 1, 2 generate an error alarm.

<Par_1>, ..., <Par_n>,

Parameters for the concatenated transformations

<Par_n+1>:

<Par_1>, ..., <Par_n>

Parameters of the first transforma-

tion in the chain

The actual number depends on the

transformation type:

• TRAORI: 2 parameters

• TRACYL: 1 to 2 parameters

<Par_n+1>

Parameters of the second transfor-

mation in the chain (TRAANG)

≙ angle of the inclined axis

If parameters are not set, the defaults or the parameters last used

take effect. Commas must be used to ensure that the specified pa-

rameters are evaluated in the sequence in which they are expected,

if default settings are to be effective for previous parameters. In par-

ticular, a comma is required before at least one parameter, even

though it is not necessary to specify <Trafo_No> - for example TRA-

CON( , 3.7).

TRAFOOF:

Deactivate the last activated (concatenated) transformation

Example

Program code

Comment

N230 TRACON(1,45.)

; Activate first concatenated transformation.

; The previously active transformation is automatically de-

selected.

; The angle for the inclined axis is 45°.

N330 TRACON(2,40.)

; Activate second concatenated transformation.

; The angle for the inclined axis is 40°.

N380 TRAFOOF

; Deactivate second concatenated transformation.

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5.5 Chained transformations

Program code

Comment

See also

$NT_TRAFO_INDEX (Page 28)

5.5.5

Examples

5.5.5.1

Application example of chained transformations

The following transformations are to be defined in the channel:

Data set

Transformation

1

TRAORI

5-axis transformation with rotatable tool and axis sequence AB (trafo type 16)

2

TRANSMIT

Face end transformation (trafo type 256)

3

TRAANG

Oblique angle transformation (trafo type 1024)

4

TRAORI + TRAANG

First chained transformation (trafo type 8192)

5

TRANSMIT + TRAANG

Second chained transformation (trafo type 8192)

Parameter assignment

General channel configuration

CHANDATA(1)

; Channel data in channel 1

MD20070 $MC_AXCONF_MACHAX_USED[0]=1

MD20070 $MC_AXCONF_MACHAX_USED[1]=2

MD20070 $MC_AXCONF_MACHAX_USED[2] = 3

MD20070 $MC_AXCONF_MACHAX_USED[3] = 4

MD20070 $MC_AXCONF_MACHAX_USED[4]=5

MD20070 $MC_AXCONF_MACHAX_USED[5]=6

MD20070 $MC_AXCONF_MACHAX_USED[6]=7

MD20070 $MC_AXCONF_MACHAX_USED[7] = 0

MD20080 $MC_AXCONF_CHANAX_NAME_TAB[3]="A"

MD20080 $MC_AXCONF_CHANAX_NAME_TAB[4]="B"

MD20080 $MC_AXCONF_CHANAX_NAME_TAB[5]="C"

MD36902 $MA_IS_ROT_AX[ AX4 ] = TRUE

MD36902 $MA_IS_ROT_AX[ AX5 ] = TRUE

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Kinematic transformations

5.5 Chained transformations

5.5.5.2

Determining the axis positions in the transformation chain

Two chained transformations are configured in the following example, and the system variables

for determining the axis positions in the synchronous action are read cyclically in the part

program.

[

;0

\

75$160,7

75$$1*

<0

]

=0

\

&

[

\

75$&</

75$$1*

]

\

Parameter assignment

CHANDATA(1)

; TRANSMIT

MD24100 $MC_TRAFO_TYPE_1=256

MD24110 $MC_TRAFO_AXES_IN_1[0] = 2

MD24110 $MC_TRAFO_AXES_IN_1[1] = 1

MD24110 $MC_TRAFO_AXES_IN_1[2] = 3

MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1 [0] = 2

MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1 [1] = 1

MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1 [2] = 3

; TRACYL

MD24200 $MC_TRAFO_TYPE_2=512

MD24210 $MC_TRAFO_AXES_IN_2[0]=2

MD24210 $MC_TRAFO_AXES_IN_2[1]=1

MD24210 $MC_TRAFO_AXES_IN_2[2]=3

MD24220 $MC_TRAFO_GEOAX_ASSIGN_TAB_2[0] =2

MD24220 $MC_TRAFO_GEOAX_ASSIGN_TAB_2[1] =1

MD24220 $MC_TRAFO_GEOAX_ASSIGN_TAB_2[2] =3

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Kinematic transformations

5.7 Cartesian PTP travel

Versions

Three versions are available for Cartesian PTP travel:

• PTP

The programmed Cartesian position in G0 and G1 blocks is approached with synchronous

axis motion.

• PTPG0

Only in G0 blocks is the programmed Cartesian position approached with synchronous axis

motion. In G1 blocks, it is switched to the type of motion CP (CP = Continuous Path) and the

position is approached with a Cartesian path motion.

• PTPWOC (only for orientation transformation)

Just the same as PTP, however, without any compensatory motion, which is caused by

motion of rotary axes and orientation axes.

Since the transformation, which compensates the movement of the tool tip (TCP) during

orientation changes, is not active, the position of the TCP in the workpiece coordinate system

must generally also be changed if no linear axes involved in the transformation are

programmed.

Programmed linear axis movements are carried out in the workpiece coordinate system that

applies at the beginning of the block and overlays the simultaneously programmed rotary

axis movements if applicable. The block end point that is reached in the workpiece

coordinate system is therefore generally not the same as the programmed end point.

The following table lists which version can be practically used for which transformation:

Transformation

PTP

PTPG0

PTPWOC

CP

TRAORI_DYN, TRAORI_STAT

+/-

+/-

+/-

+/-

TRANSMIT

+/-

+/-

-

+/-

RCTRA¹

+/-

+/-

-

+/-

ROBX¹

+/-

+/-

-

+/-

1) not for kinematic chains

NOTICE

Risk of collision

For PTP travel it must be observed that in part there are significantly different tool movements

than with CP!

This must especially be considered for PTPG0, because subprograms can be created with it

independently of the active transformation. With an active end face transformation

(TRANSMIT_K), however, completely different collision risks may occur than with an

orientation transformation (TRAORI_DYN, TRAORI_STAT).

For PTP travel with active end face transformation (TRANSMIT_K), machine axes generally

travel along the shortest path. Minor displacements of the block end point can cause the rotary

axis to rotate by +179.99° instead of + -179.99°. This results in a completely different motion,

even though the block end point has hardly changed.

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Kinematic transformations

5.7 Cartesian PTP travel

PTP/CP switchover in the NC program

The switchover between the Cartesian path motion (CP) and the Cartesian PTP travel in the NC

program is done via the commands of the G group 49 (see "Activating/deactivating Cartesian PTP

travel (PTP, PTPG0, PTPWOC, CP) (Page 182)").

PTP/CP switchover in JOG mode

You can also switch between the Cartesian path motion (CP) and the Cartesian PTP travel in JOG

mode.

Switchover is carried out using the NC/PLC interface signal:

DB21, ... DBX29.4 (activate PTP travel)

Note

DB21, ... DBX29.4 is only effective in JOG mode when the transformation is active.

The active type of motion is reported via the following NC/PLC interface signal:

DB21, ... DBX317.6 (PTP travel active)

5.7.2

Commissioning

5.7.2.1

Response after POWER ON

After Power On, traversing mode CP is automatically effective for axis traversal with

transformation.

The default can be switched over to Cartesian PTP travel via the following machine data:

MD20150 $MC_GCODE_RESET_VALUES[48] (initial setting of G group 49)

Value

Meaning

1

CP (default setting)

2

PTP

3

PTPG0

4

PTPWOC

5.7.2.2

Response after reset/part program end

Which command from G group 49 takes effect after a reset/part program end depends on the

setting in the machine data:

Transformations

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5.7 Cartesian PTP travel

MD20152 $MC_GCODE_RESET_MODE[48] (reset behavior of G group 49)

Value

Meaning

0

The default command in MD20150 $MC_GCODE_RESET_VALUES[48] becomes effective

(default setting).

1

The command that was active before the reset/part program end remains effective.

5.7.2.3

Consideration of the SW limits during PTP travel

Function

With Cartesian PTP travel, a rotary axis is normally traversed according to the strategy "shortest

path" if no position information has been programmed via the operation TU (Page 188). To

prevent a software limit switch being overtraveled when the target position is behind the

software limit switch, the user can use the "Consideration of the SW limits during PTP travel"

function. The rotary axis is then traversed with the strategy "long path" instead of "shortest path"

if overtravel of the software limit switch would happen, i.e. the opposite traversing direction as

with the "shortest path" strategy.

Requirement

The function can only be used when the relevant axis has been referenced.

Activation

The "Consideration of the SW limits during PTP travel" function can be activated separately for

each axis.

This setting is made via bit 14 in the axial machine data:

MD30455 $MA_MISC_FUNCTION_MASK

Bit 14

= 0

With Cartesian PTP travel, the strategy "shortest path" is retained for software limit

switch overtravel of a rotary axis (basic setting).

= 1

The strategy "long path" is used when during Cartesian PTP travel a rotary axis with

the strategy "shortest path" would overtravel the software limit switch.

Supplementary conditions

Modulo rotary axes

With modulo rotary axes, the strategy "long path" can only be used when the software limit

switch monitoring has been selected for the relevant axis:

DB31, ... DBX12.4 (modulo rotary axis: Activate traversing range limits) = 1

Example

Axis 6 is to traverse from +150° t +240°. The software limit switch is at +200°.

Transformations

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