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SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 99

Kinematic transformations

5.7 Cartesian PTP travel

If for axis 6, bit 14 in MD30455 $MA_MISC_FUNCTION_MASK is set to "1", axis 6 is traversed to

-120°.

5.7.2.4

Displaying STAT and TU

In the SINUMERIK Operate user interface, in the "Machine" operating area, users can track the

actual values of STAT (Page 183) and TU (Page 188):

Precondition: The display of STAT and TU is activated when commissioning SINUMERIK Operate.

Further information

SINUMERIK Operate Commissioning Manual; Adapt operating area of machine > Display STAT

and TU

5.7.3

Programming

5.7.3.1

Activating/deactivating Cartesian PTP travel (PTP, PTPG0, PTPWOC, CP)

The Cartesian point-to-point or PTP travel is activated/deactivated in the NC program using G

group 49 commands.

The commands are modal. The default setting is travel with Cartesian path motion (CP).

Contrary to CP, for active PTP travel, only the Cartesian target point is transformed, and the

machine axes are traversed in synchronism.

In order that the Cartesian target point can be uniquely converted into machine axis values, in

addition to position and angular data, information is also necessary that identifies the axis

positions. This data is retrieved from the adjustable addresses STAT (Page 183) and TU

(Page 188).

Requirement

Transformation TRAORI_DYN, TRAORI_STAT, TRANSMIT_K, RCTRA or ROBX is active

(conventional TRAORI and TRANSMIT).

RCTRA or ROBX are not available for kinematic chains.

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5.7 Cartesian PTP travel

Syntax

PTP / PTPG0 / PTPWOC

CP

Meaning

PTP:

Activating point-to-point motion PTP

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

nous axis motion.

PTPG0:

Activating point-to-point motion PTPG0

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

axis motion. In G1 blocks, a switchover is made to CP path motion.

PTPWOC:

Activate point-to-point movement PTPWOC (only possible if orientation transformation

is active)

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

motion of rotary axes and orientation axes.

CP:

Deactivating point-to-point motion and activating path motion CP

Cartesian path motion is executed with CP.

Note

PTPWOC

It does not make any sense to use PTPWOC in combination with a RCTRA or ROBX transformation!

RCTRA or ROBX are not available for kinematic chains.

Examples

See:

• Example 1: PTP travel of a 6-axis robot with ROBX transformation (Page 190)

• Example 2: PTP travel for generic 5-axis transformation (Page 192)

• Example 3: PTPG0 and TRANSMIT (Page 192)

5.7.3.2

Specify the position of the joints (STAT)

Position data with Cartesian coordinates and specification of the tool orientation are not

sufficient to uniquely identify the machine position, as several joint positions are possible for the

same tool orientation. Depending on the kinematics involved, there can be as many as 8

different joint positions. These different joint positions are transformation-specific.

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Kinematic transformations

5.7 Cartesian PTP travel

In an order to avoid any ambiguity, the joint positions are specified under the STAT address.

Note

The control takes into account programmed STAT values only for PTP motions. They are ignored

with CP motions because a change of position is not normally possible while traversing with an

active transformation. When traversing with active CP, the position for the target point is taken

from the starting point.

Syntax

STAT=<Value>

Meaning

STAT:

Adjustable address to specify joint positions

<value>:

Binary or decimal value

Contains one bit for each possible position. The significance of the bits is defined by the

particular transformation.

The use of STAT is to be illustrated by the example of a 6-axis articulated robot with milling

spindle. The kinematic transformation is to be realized using the ROBX robot transformation

(precondition: Compile cycle "RMCC/ROBX Transformation Extended Robotics" is loaded and

active).

Note

Example with ROBX only with conventional machine data parameterization

The example is only possible with machine data parameterization, not with kinematic chains.

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5.7 Cartesian PTP travel

$

$

$

$

$

$

Axes A1, A2 and A3 are the main axes of the articulated robot. The axes A4, A5 and A6, which

are also designated as head or hand/wrist axes, are positioned in the working area with the main

axes. The additional motion options of the hand/wrist axes enable the milling spindle to be

orientated in space as required for the particular machining task. Various articulated joint

positions are possible to achieve the same tool orientation.

The articulated joint positions required for machining are selected by programming bit 0 ... 2 of

the adjustable STAT address:

Bit 0

Position of the intersection points of the hand/wrist axes (A4, A5, A6)

= 0

Basic range (shoulder right)

The robot is in the basic range if the X value of

the intersection point of the hand/wrist axes

is positive in relation to to the A1 coordinate

system.

= 1

Overhead range (shoulder left)

The robot is in the overhead range if the X

value of the intersection point of the hand/

wrist axes is negative in relation to the A1 co-

ordinate system.

%LW

%LW

;

;

Example: The intersection point of

the hand/wrist axes lies in the basic

range

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Kinematic transformations

5.7 Cartesian PTP travel

Bit 1

Position of axis 3

The angle at which the value of bit 1 changes depends on the particular robot type. The

following applies to robots whose axes 3 and 4 intersect:

= 0

A3 <0° (elbow down)

= 1

A3 ≥0° (elbow up)

Note:

For robots with an offset between axes 3 and 4, the

angle at which the value of bit 1 changes depends on

the magnitude of this offset.

Offset between A3 and A4

Bit 2

Position of axis 5

= 0

A5 ≥0° (no handflip)

= 1

A5 <0° (handflip)

Program example:

Program code

Comment

N14 T="T8MILLD20" D1

; $TC_DP3[1,1]=132.95

N16 ORIMKS

N17 G1 PTP X1665.67 Y0 Z1377.405 A=0 B=0 C=0 STAT=... F2000

; The STAT value defines

the articulated joint

positions (see below)

STAT=1 ('B001')

→ Shoulder left

=

→ Elbow down

→ No handflip

<

;

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Kinematic transformations

5.7 Cartesian PTP travel

STAT=2 ('B010')

→ Shoulder right

=

→ Elbow up

→ No handflip

<

;

STAT=5 ('B101')

→ Shoulder left

=

→ Elbow down

→ Handflip

<

;

STAT=6 ('B110')

→ Shoulder right

=

→ Elbow up

→ Handflip

<

;

TRANSMIT_K (conventional TRANSMIT)

For TRANSMIT_K, the address STAT is used to resolve the ambiguity regarding the pole.

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Kinematic transformations

5.7 Cartesian PTP travel

The following applies if the rotary axis must rotate through 180º or the contour for CP would go

through the pole:

Bit 0

Only relevant for $NT_POLE_SIDE_FIX[n] = 1 or 2

for machine data parameterization the $MC_TRANSMIT_POLE_SIDE_FIX_1/2 = 1 or 2:

= 0

Rotary axis traverses through +180º or rotates clockwise.

= 1

Rotary axis rotates through -180º or rotates counterclockwise.

Bit 1

Only relevant for $NT_POLE_SIDE_FIX[n] = 0

for machine data parameterization the $MC_TRANSMIT_POLE_SIDE_FIX_1/2 = 0:

= 0

The axis traverses through the pole. The rotary axis does not rotate.

= 1

The axis rotates around the pole. Bit 0 of STAT is relevant.

5.7.3.3

Specify the sign of the axis angle (TU)

In order that rotary axes can also approach axis angles exceeding +180° or less than -180°

without requiring a special traversing strategy (e.g. intermediate point), the sign of the axis

angle must be specified under the adjustable address TU.

Note

The control only takes into account programmed TU values for PTP motion. CP motion is ignored.

Syntax

TU=<Value>

Meaning

TU:

Adjustable address to specify axis angle signs

<value>:

Binary or decimal value

For each axis that is involved in the transformation, there is a bit that indicates the sign

of the axis angle (θ), and therefore the traversing direction.

Bit

= 0

Axis angle sign: +

Axis angular range: 0° ≤ θ < 360°

= 1

Axis angle sign: -

Axis angular range: - 360° < θ < 0°

Example: 6-axis articulated robot

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Kinematic transformations

5.7 Cartesian PTP travel

$

$

$

$

$

$

Bit

Meaning

Value

Axis angle

Axis angle

sign

Bit 0 ¹⁾

Sign for the axis angle of A1

= 0

+/-

≥ 0°

= 1

-

< 0°

Bit 1 ¹⁾

Sign for the axis angle of A2

= 0

+/-

≥ 0°

= 1

-

< 0°

Bit 2 ¹⁾

Sign for the axis angle of A3

= 0

+/-

≥ 0°

= 1

-

< 0°

Bit 3 ¹⁾

Sign for the axis angle of A4

= 0

+/-

≥ 0°

= 1

-

< 0°

Bit 4 ¹⁾

Sign for the axis angle of A5

= 0

+/-

≥ 0°

= 1

-

< 0°

Bit 5 ¹⁾

Sign for the axis angle of A6

= 0

+/-

≥ 0°

= 1

-

< 0°

1)

The actual TU bit numbers obtained from the channel axis numbers of the robot axes! In the example,

robot axes (A1 to A6) are the first six axes in the channel; as a consequence, TU bits 0 ... 5 are used. For

another channel axis assignment of the robot axes, the TU bit numbers of the robot axes would

correspondingly change (e.g.: robot axes are the 3rd to 8th channel axis, i.e. TU bits 2 ... 7 are used for

the robot axes).

TU=19 (corresponds to TU='B010011) would therefore signify:

Bit

Value

Axis angle

0

= 1

⇒

θ_A1 <0°

1

= 1

⇒

θ_A2 <0°

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Kinematic transformations

5.7 Cartesian PTP travel

2

= 0

⇒

θ

A3

≥0°

3

= 0

⇒

θ_A4 ≥0°

4

= 1

⇒

θ_A5 <0°

5

= 0

⇒

θ_A6 ≥0°

Note

In the case of axes with a traversing range > ±360°, the axis always moves along the shortest

path because the axis position cannot be specified uniquely by the TU information.

If no TU is programmed for a position, then depending on MD30455

$MA_MISC_FUNCTION_MASK (Page 181) the shorter or longer path is traversed.

TRANSMIT_K (conventional TRANSMIT)

For PTP travel with TRANSMIT active, the address of TU has no meaning!

Example

The rotary axis position shown in the following diagram can be approached in the negative or

positive direction. The angular position is programmed under address A1. The traversing

direction is only absolutely clear when TU is specified.

6WDUWLQJ SRVLWLRQ

1HJDWLYH GLUHFWLRQ

$

r 78 ELW

3RVLWLYH GLUHFWLRQ

$

r 78 ELW

7DUJHW SRVLWLRQ

5.7.3.4

Example 1: PTP travel of a 6-axis robot with ROBX transformation

In the following application example, Cartesian PTP travel and the associated NC commands are

shown in the form of an example.

Note

Only with conventional machine data parameterization

The example does not work with kinematic chains.

Transformations

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Kinematic transformations

5.7 Cartesian PTP travel

=

<

;

Figure 5-20

6-axis articulated robot with milling spindle

N1 G90

N2 T=“T8MILLD20“ D1 M6

N3 TRAORI

;$P_UIFR[1]=CTRANS(X,1500,Y,0,Z,400):CROT(X,0,Y,0,Z,-90)

N4 G54

N5 M3 S20000

N6 ORIWKS

N7 ORIVIRT1

N8 CYCLE832(0.01,_FINISH,1)

;HOME

N9 TRAFOOF

N10 G0 RA1=0.0000 RA2=-90.0000 RA3=90.0000 A=0.0000 B=90.0000 C=0.0000

N11 TRAORI

N12 G54

N13 G0 PTP X1369.2426 Y956.7528 Z502.5517 A=135.5761 B=-33.2223

C=161.1435 STAT='B010' TU='B001011'

N14 G0 X1355.1242 Y1014.9394 Z424.9695 A=135.8491 B=-33.1439

C=160.9941 STAT='B010' TU='B001011'

N15 G1 CP X1354.8361 Y1016.1269 Z423.3862 A=136.0635 B=-33.0819 C=160.8770

F1000

N16 G1 X1336.4283 Y1016.1269 Z426.6311 A=136.0484 B=-32.2151 C=160.9643

F2000

N17 G1 X1317.9831 Y1016.1269 Z429.6730 A=136.0175 B=-31.3394 C=161.0655

;HOME

N18 TRAFOOF

N19 G0 RA1=0.0000 RA2=-90.0000 RA3=90.0000 A=0.0000 B=90.0000 C=0.0000

N20 M30

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Kinematic transformations

5.7 Cartesian PTP travel

5.7.3.5

Example 2: PTP travel for generic 5-axis transformation

Assumption: Right-angled CA kinematics used as basis.

Program code

Comment

TRAORI

;Transformation CA kinematics ON

PTP

; Activate PTP traversal

N10 A3=0 B3=0 C3=1

; rotary axis positions C=0 A=0

N20 A3=1 B3=0 C3=1

; rotary axis positions C=90 A=45

N30 A3=1 B3=0 C3=0

; rotary axis positions C=90 A=90

N40 A3=1 B3=0 C3=1 STAT=1

; rotary axis positions C=270 A=-45

Select clear approach position of rotary axis position:

In block N40, the rotary axes - as a result of the programming of STAT=1 - travel the longer

distance from their start point (C=90, A=90) to the end point (C=270, A=-45). On the other

hand, with STAT=0, the rotary axes would travel along the shortest path to the end point (C=90,

A=45).

5.7.3.6

Example 3: PTPG0 and TRANSMIT

Traversing around the pole with PTPG0 and TRANSMIT

<

PTP

CP

1

* ;

<

1

;

<

;

Program code

Comment

N001 G0 X30 Z0 F10000 T1 D1 G90

;Initial setting absolute dimension

N002 SPOS=0

N003 TRANSMIT

;TRANSMIT transformation

N010 PTPG0

; for each G0 block, automatically PTP -

and then CP again.

N020 G0 X30 Y20

N030 X-30 Y-20

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5.7 Cartesian PTP travel

Program code

Comment

N120 G1 X30 Y20

N110 X30 Y0

M30

Traversing from the pole with PTPG0 and TRANSMIT

<

PTP

CP

30

N070 X20 Y2

20

10

N060 X0 Y0

-30

-20

-10

10

20

30

;

-10

-20

-30

N050 X10 Y0

Programming

Comment

N001 G0 X90 Z0 F10000 T1 D1 G90

;Initial setting

N002 SPOS=0

N003 TRANSMIT

;TRANSMIT transformation

N010 PTPG0

; for each G0 block, automatically PTP -

and then CP again.

N020 G0 X90 Y60

N030 X-90 Y-60

N040 X-30 Y-20

N050 X10 Y0

N060 X0 Y0

N070 X-20 Y2

N170 G1 X0 Y0

N160 X10 Y0

N150 X-30 Y-20

M30

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Kinematic transformations

5.8 Cartesian manual traversing (option)

Function

The "Cartesian manual travel" function, as a reference system for JOG mode, allows axes to be

set independently of each other in the following Cartesian coordinate systems:

• Basic coordinate system (BCS)

• Workpiece coordinate system (WCS)

• Tool coordinate system (TCS)

Adjustment and activation is done using machine data:

MD21106 $MC_CART_JOG_SYSTEM (coordinate systems for Cartesian JOG)

Bit

Meaning

0

Basic coordinate system

1

Workpiece coordinate system

2

Tool coordinate system

Note

The workpiece coordinate system has been shifted and rotated compared to the basic

coordinate system via frames.

More information:

Function Manual Basic Functions; Axes, coordinate systems, frames

Representation of the reference points in the coordinate system:

Workpiece zero

Tool carrier reference point

Selecting reference systems

For JOG motion, one of the three reference systems can be specified separately not only for

the translation (coarse offset) with geometry axes, but also for the orientation with orientation

axes via the following setting data:

SD42650 $SC_CART_JOG_MODE

If more than one bit is set for the translation or orientation reference system, or when an attempt

is made to set a reference system which was not released by the MD21106

$MC_CART_JOG_SYSTEM, the alarm 14148 "Reference system for Cartesian manual travel not

allowed" will be generated.

Translation

A translation movement can be used to move the tool center point (TCP) in parallel and 3-

dimensional to the axes of the reference system. The traversing movement is made via the VDI

signals of the geometry axes.

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Kinematic transformations

5.8 Cartesian manual traversing (option)

Machine data MD24120$MC_TRAFO_GEOAX_ASSIGN_TAB_x[n] is used to assign the geometry

axes. Simultaneous traversing in more than one direction permits the execution of movements

that lie parallel to the directions of the reference system.

Translation in the BCS

The basic coordinate system (BCS) describes the Cartesian zero of the machine.

=

=

<

<

;

;

=

<

%.6

<

;

=

;

① Starting position

② End position

Figure 5-21

Cartesian manual travel in the basic coordinate system (translation)

Transformations

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Kinematic transformations

5.8 Cartesian manual traversing (option)

Translation in the WCS

The workpiece coordinate system (WCS) lies in the workpiece zero. The workpiece coordinate

system can be shifted and rotated relative to the basic coordinate system via frames. As long as

no frame rotation is active, traversing motion corresponds to the translation of motion in the

basic coordinate system.

=

=

<

<

;

;

=

<

:.6

<

;

=

;

① Workpiece

Figure 5-22

Cartesian manual travel in the workpiece coordinate system (translation)

Transformations

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Kinematic transformations

5.8 Cartesian manual traversing (option)

Translation in the TCS

The tool coordinate system (TCS) is at the tool center point. Its direction depends on the current

setting of the machine, since the tool coordinate system moves during the motion.

=

=

<

<

<

;

=

:.6

%.6

;

;

① Starting position

② Frame

③ Workpiece

④ End position

Figure 5-23

Cartesian manual travel in the tool coordinate system (translation)

Translation and orientation simultaneously in the TCS

If translation and orientation movements are executed at the same time, the translation is

always traversed corresponding to the current orientation of the tool. This permits infeed

movements that are made directly in the tool direction or movements that run perpendicular to

tool direction.

Orientation

The tool can be aligned to the component surface via an orientation movement. The orientation

movement is given control from the PLC via the VDI signals of the orientation axes (DB21, ...

DBB321).

Several orientation axes can be traversed simultaneously. The virtual orientation axes execute

rotations around the fixed axes of the relevant reference system.

The rotations are identified according to the RPY angles.

• A angle: Rotation around the Z axis

• B angle: Rotation around the Y axis

• C angle: Rotation around the X axis

Programming rotations:

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Kinematic transformations

5.8 Cartesian manual traversing (option)

The user can define how rotations are to be executed using the current G commands of group

50 for orientation definition

Specifying ORIEULER, ORIRPY, ORIVIRT1 and ORIVIRT2.

With ORIVIRT1, rotation is executed according to MD21120 $MC_ORIAX_TURN_TAB_1. The

orientation axes are assigned to the channel axes via machine data: MD24585

$MC_TRAFO5_ORIAX_ASSIGN_TAB_1.

The direction of rotation is determined according to the "right hand rule". The thumb points in

the direction of the rotary axis. The finger stipulates the positive direction of rotation.

Orientation in the WCS

The rotations are made around the defined directions of the workpiece coordinate system. If

frame rotation is active, the movements correspond to the rotations in the basic coordinate

system.

Orientation in the BCS

The rotations are made around the defined directions of the basic coordinate system.

=

<

$

;7.6

%.6

;

①

Start orientation

②

End orientation

Figure 5-24

Cartesian manual travel in the basic coordinate system, orientation angle A

Transformations

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Kinematic transformations

5.8 Cartesian manual traversing (option)

=

<

%

;7.6

%.6

;

①

Start orientation

②

End orientation

Figure 5-25

Cartesian manual travel in the basic coordinate system, orientation angle B

=

<

;7.6

&

%.6

;

① Start orientation

② End orientation

Figure 5-26

Cartesian manual travel in the basic coordinate system, orientation angle C

Transformations

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Kinematic transformations

5.8 Cartesian manual traversing (option)

Orientation in the TCS

The rotations are around the moving directions in the tool coordinate system. The current

homing directions of the tool are always used as rotary axes.

$

=

;

<

Figure 5-27

Cartesian manual travel in the tool coordinate system, orientation angle A

Transformations

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Kinematic transformations

5.8 Cartesian manual traversing (option)

<

%

;

=

Figure 5-28

Cartesian manual travel in the tool coordinate system, orientation angle B

Transformations

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Kinematic transformations

5.8 Cartesian manual traversing (option)

<

&

=

;

Figure 5-29

Cartesian manual travel in the tool coordinate system, orientation angle C

Supplementary conditions

The "Cartesian manual travel" function can only be executed if the transformation is active in the

NC:

DB21, ... DBX33.6 == 1 ("transformation active")

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

The following supplementary conditions must be observed:

• "Handling transformation package" option with 5-axis or 6-axis transformation is set

• Virtual orientation axes must be defined via the following machine data:

MD24585 $MC_TRAFO5_ORIAX_ASSIGN_TAB_1[n]

• DB21, ... DBX29.4 == 0 (activate PTP travel)

• MD21106 $MC_CART_JOG_SYSTEM > 0

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5.8 Cartesian manual traversing (option)

Table 5-3

Conditions for Cartesian manual travel

Transformation in pro-

Prog. traversing type

DB21, ... DBX29.4

DB21, ... DBX33.6

gram active (TRAORI..)

"Activate PTP travel"

"Transformation ac-

tive"

FALSE

Not active

Not active

0

TRUE

CP

0

1

TRUE

CP

1

0

TRUE

PTP

0

1

TRUE

PTP

1

0

The G command PTP/CP currently active in the program does not affect Cartesian manual travel.

The NC/PLC interface signals are interpreted in the channel DB for geometry and orientation

axes.

Activation

The reference system for Cartesian manual travel is set as follows:

• The Cartesian manual travel function is activated with the following machine data:

MD21106 $MC_CART_JOG_SYSTEM > 0

The BCS, WCS or TCS reference systems are enabled via MD21106 $MC_CART_JOG_SYSTEM.

• JOG traverse motion via SD42650 SC_CART_JOG_MODE

Standard behavior as before: Bits 0 to 2 = 0, bits 8 to 10 = 0.

Reference system for translation via bits 0-2 and the reference system for orientation via bits

8-10.

If not all of the bits are set to 0, the process uses the new function. The reference systems for

translation and orientation may be set independently.

SD42650 $SC_CART_JOG_MODE (only set one bit):

SD42650 $SC_CART_JOG_MODE

Bit 11 -

Bit 10

Bit 9

Bit 8

Bit 7 -

Bit 2

Bit 1

Bit 0

bit 15

bit 3

Reserved

Orienta-

Orienta-

Orienta-

Reserved

Transla-

Transla-

Transla-

tion in the

tion in the

tion in the

tion in the

tion in the

tion in the

TCS

WCS

BCS

TCS

WCS

BCS

Combining reference systems

The table below shows all the combination options for reference systems.

SD42650 $SC_CART_JOG_MODE

Reference system for

Bit 10

Bit 9

Bit 8

Bit 2

Bit 1

Bit 0

Orientation

Translation

0

0

0

0/1

0/1

0/1

Standard

Standard

Standard

Standard

Standard

0

0

0

Standard

Standard

0

0

1

0

0

1

BCS

BCS

0

0

1

0

1

0

BCS

WCS

0

0

1

1

0

0

BCS

TCS

0

1

0

0

0

1

WCS

BCS

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Kinematic transformations

5.9 Activating transformation machine data via part program/softkey

SD42650 $SC_CART_JOG_MODE

Reference system for

0

1

0

0

1

0

WCS

WCS

0

1

0

1

0

0

WCS

TCS

1

0

0

0

0

1

TCS

BCS

1

0

0

0

1

0

TCS

WCS

1

0

0

1

0

0

TCS

TCS

5.9

Activating transformation machine data via part program/softkey

5.9.1

Function

Transformation MD can now be activated by means of a program command softkey, i.e. these

can, for example, be written from the parts program, thus altering the transformation

configuration completely.

Up to ten different transformations can be set in the control system. The transformation type is

set in the following machine data:

MD24100 $MC_TRAFO_TYPE_1

up to

MD24460 $MC_TRAFO_TYPE_10.

Characteristics

The transformation MDs are activated using the "Setting machine data effective".

The protection level is now 7/7 (KEYSWITCH_0), which means that data can be modified from the

NC program without any particular authorization.

If the machine data are activated (regardless whether via the NEWCONF NC program command,

the HMI or implicitly following reset or end of program) - and no transformation has been

selected (activated) - then the machine data listed above can be altered without restriction and

then activated.

Of particular relevance is that new transformations can be configured or existing

transformations replaced by one of a different type or deleted, since the modification options are

not restricted to re-parameterization of existing transformations.

5.9.2

Constraints

Changing machine data

The machine data which involve an active transformation may not be altered; any attempt to do

so will generate an alarm.

Transformations

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Kinematic transformations

5.10 Data lists

Program code

Comment

N120 X0

N130 NEWCONF

; Accept new machine data

N140 TRAORI(1)

; Selection of the 1st orientation

transformation MD is effective

N150 G19 X0 Y0 Z0

N160 A50 B50

N170 A0 B0

N180 TRAFOOF

N190 M30

5.10

Data lists

5.10.1

Machine data

5.10.1.1

TRANSMIT

Channelspecific machine data

Number

Identifier: $MC_

Description

20110

RESET_MODE_MASK

Definition of control basic setting after run-up and RESET/part

program end

20140

TRAFO_RESET_VALUE

Basic transformation position

22534

TRAFO_CHANGE_M_CODE

M code for transformation changeover

24100

TRAFO_TYPE_1

Definition of the 1st transformation in channel

24110

TRAFO_AXES_IN_1

Axis assignment for the 1st transformation

24120

TRAFO_GEOAX_ASSIGN_TAB_1

Geo-axis assignment for 1st transformation

24200

TRAFO_TYPE_2

Definition of the 2nd transformation in channel

24210

TRAFO_AXES_IN_2

Axis assignment for the 2nd transformation

24220

TRAFO_GEOAX_ASSIGN_TAB_2

Geo-axis assignment for 2nd transformation

24300

TRAFO_TYPE_3

Definition of the 3rd transformation in channel

24310

TRAFO_AXES_IN_3

Axis assignment for the 3rd transformation

24320

TRAFO_GEOAX_ASSIGN_TAB_3

Geo-axis assignment for 3rd transformation

24400

TRAFO_TYPE_4

Definition of the 4th transformation in channel

24410

TRAFO_AXES_IN_4

Axis assignment for the 4th transformation

24420

TRAFO_GEOAX_ASSIGN_TAB_4

Geo-axis assignment for 4th transformation

24430

TRAFO_TYPE_5

Definition of the 5th transformation in channel

24432

TRAFO_AXES_IN_5

Axis assignment for the 5th transformation

24434

TRAFO_GEOAX_ASSIGN_TAB_5

Geo-axis assignment for 5th transformation

24440

TRAFO_TYPE_6

Definition of the 6th transformation in channel

Transformations

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5.10 Data lists

Number

Identifier: $MC_

Description

24442

TRAFO_AXES_IN_6

Axis assignment for the 6th transformation

24444

TRAFO_GEOAX_ASSIGN_TAB_6

Geo-axis assignment for 6th transformation

24450

TRAFO_TYPE_7

Definition of the 7th transformation in channel

24452

TRAFO_AXES_IN_7

Axis assignment for the 7th transformation

24454

TRAFO_GEOAX_ASSIGN_TAB_7

Geo-axis assignment for 7th transformation

24460

TRAFO_TYPE_8

Definition of the 8th transformation in channel

24462

TRAFO_AXES_IN_8

Axis assignment for the 8th transformation

24464

TRAFO_GEOAX_ASSIGN_TAB_8

Geo-axis assignment for 8th transformation

24900

TRANSMIT_ROT_AX_OFFSET_1

Deviation of rotary axis from zero position in degrees (1st

TRANSMIT)

24910

TRANSMIT_ROT_SIGN_IS_PLUS_1

Sign of rotary axis for TRANSMIT (1st TRANSMIT)

24911

TRANSMIT_POLE_SIDE_FIX_1

Limitation of working range in front of/behind pole, 1st trans-

formation

24920

TRANSMIT_BASE_TOOL_1

Distance of tool zero point from origin of geo-axes (1st TRANS-

MIT)

24950

TRANSMIT_ROT_AX_OFFSET_2

Deviation of rotary axis from zero position in degrees (2nd

TRANSMIT)

24960

TRANSMIT_ROT_SIGN_IS_PLUS_2

Sign of rotary axis for TRANSMIT (2nd TRANSMIT)

24961

TRANSMIT_POLE_SIDE_FIX_2

Limitation of working range in front of/behind pole, 2nd trans-

formation

24970

TRANSMIT_BASE_TOOL_2

Distance of tool zero point from origin of geo-axes (2nd

TRANSMIT)

5.10.1.2

TRACYL

Channelspecific machine data

Number

Identifier: $MC_

Description

20110

RESET_MODE_MASK

Definition of control basic setting after run-up and RESET/part

program end

20140

TRAFO_RESET_VALUE

Basic transformation position

20144

TRAFO_MODE_MASK

Selection of the kinematic transformation function

24100

TRAFO_TYPE_1

Definition of the 1st transformation in channel

24110

TRAFO_AXES_IN_1

Axis assignment for the 1st transformation

24120

TRAFO_GEOAX_ASSIGN_TAB_1

Geo-axis assignment for 1st transformation

24130

TRAFO_INCLUDES_TOOL_1

Tool handling with active transformation 1.

24200

TRAFO_TYPE_2

Definition of the 2nd transformation in channel

24210

TRAFO_AXES_IN_2

Axis assignment for the 2nd transformation

24220

TRAFO_GEOAX_ASSIGN_TAB_2

Geo-axis assignment for 2nd transformation

24230

TRAFO_INCLUDES_TOOL_2

Tool handling with active transformation 2.

24300

TRAFO_TYPE_3

Definition of the 3rd transformation in channel

24310

TRAFO_AXES_IN_3

Axis assignment for the 3rd transformation

Transformations

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213

Kinematic transformations

5.10 Data lists

Number

Identifier: $MC_

Description

24320

TRAFO_GEOAX_ASSIGN_TAB_3

Geo-axis assignment for 3rd transformation

24330

TRAFO_INCLUDES_TOOL_3

Tool handling with active transformation 3.

24400

TRAFO_TYPE_4

Definition of the 4th transformation in channel

24410

TRAFO_AXES_IN_4

Axis assignment for the 4th transformation

24420

TRAFO_GEOAX_ASSIGN_TAB_4

Geo-axis assignment for 4th transformation

24426

TRAFO_INCLUDES_TOOL_4

Tool handling with active transformation 4.

24430

TRAFO_TYPE_5

Definition of the 5th transformation in channel

24432

TRAFO_AXES_IN_5

Axis assignment for the 5th transformation

24434

TRAFO_GEOAX_ASSIGN_TAB_5

Geo-axis assignment for 5th transformation

24436

TRAFO_INCLUDES_TOOL_5

Tool handling with active transformation 5.

24440

TRAFO_TYPE_6

Definition of the 6th transformation in channel

24442

TRAFO_AXES_IN_6

Axis assignment for the 6th transformation

24444

TRAFO_GEOAX_ASSIGN_TAB_6

Assignment geometry axes for 6th transformation

24446

TRAFO_INCLUDES_TOOL_6

Tool handling with active transformation 6.

24450

TRAFO_TYPE_7

Definition of the 7th transformation in channel

24452

TRAFO_AXES_IN_7

Axis assignment for the 7th transformation

24454

TRAFO_GEOAX_ASSIGN_TAB_7

Geo-axis assignment for 7th transformation

24456

TRAFO_INCLUDES_TOOL_7

Tool handling with active transformation 7.

24460

TRAFO_TYPE_8

Definition of the 8th transformation in channel

24462

TRAFO_AXES_IN_8

Axis assignment for the 8th transformation

24464

TRAFO_GEOAX_ASSIGN_TAB_8

Geo-axis assignment for 8th transformation

24466

TRAFO_INCLUDES_TOOL_8

Tool handling with active transformation 8.

24470

TRAFO_TYPE_9

Definition of the 9th transformation in channel

24472

TRAFO_AXES_IN_9

Axis assignment for the 9th transformation

24474

TRAFO_GEOAX_ASSIGN_TAB_9

Geo-axis assignment for 9th transformation

24476

TRAFO_INCLUDES_TOOL_9

Tool handling with active transformation 9.

24480

TRAFO_TYPE_10

Definition of the 10th transformation in channel

24482

TRAFO_AXES_IN_10

Axis assignment for the 10th transformation

24484

TRAFO_GEOAX_ASSIGN_TAB_10

Geo-axis assignment for 10th transformation

24486

TRAFO_INCLUDES_TOOL_10

Tool handling with active transformation 10.

24800

TRACYL_ROT_AX_OFFSET_1

Deviation of rotary axis from zero position in degrees (1st

TRACYL)

24808

TRACYL_DEFAULT_MODE_1

Selection of TRACYL mode (1st TRACYL)

24810

TRACYL_ROT_SIGN_IS_PLUS_1

Sign of rotary axis for TRACYL (1st TRACYL)

24820

TRACYL_BASE_TOOL_1

Distance of tool zero point from origin of geo-axes (1st TRAC-

YL)

24850

TRACYL_ROT_AX_OFFSET_2

Deviation of rotary axis from zero position in degrees (2nd

TRACYL)

24858

TRACYL_DEFAULT_MODE_2

Selection of TRACYL mode (2nd TRACYL)

24860

TRACYL_ROT_SIGN_IS_PLUS_2

Sign of rotary axis for TRACYL (2nd TRACYL)

Transformations

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Kinematic transformations

5.10 Data lists

Number

Identifier: $MC_

Description

24870

TRACYL_BASE_TOOL_2

Distance of tool zero point from origin of geo-axes (2nd TRAC-

YL)

22534

TRAFO_CHANGE_M_CODE

M code for transformation changeover

5.10.1.3

TRAANG

Channelspecific machine data

Number

Identifier: $MC_

Description

20110

RESET_MODE_MASK

Definition of control basic setting after run-up and RESET/part

program end

20140

TRAFO_RESET_VALUE

Basic transformation position

20144

RAFO_MODE_MASK

Selection of the kinematic transformation function

20534

TRAFO_CHANGE_M_CODE

M code for transformation changeover

24100

TRAFO_TYPE_1

Definition of the 1st transformation in channel

24110

TRAFO_AXES_IN_1

Axis assignment for the 1st transformation

24120

TRAFO_GEOAX_ASSIGN_TAB_1

Geo-axis assignment for 1st transformation

24200

TRAFO_TYPE_2

Definition of the 2nd transformation in channel

24210

TRAFO_AXES_IN_2

Axis assignment for the 2nd transformation

24220

TRAFO_GEOAX_ASSIGN_TAB_2

Geo-axis assignment for 2nd transformation

24300

TRAFO_TYPE_3

Definition of the 3rd transformation in channel

24310

TRAFO_AXES_IN_3

Axis assignment for the 3rd transformation

24320

TRAFO_GEOAX_ASSIGN_TAB_3

Geo-axis assignment for 3rd transformation

24400

TRAFO_TYPE_4

Definition of the 4th transformation in channel

24410

TRAFO_AXES_IN_4

Axis assignment for the 4th transformation

24420

TRAFO_GEOAX_ASSIGN_TAB_4

Geo-axis assignment for 4th transformation

24430

TRAFO_TYPE_5

Definition of the 5th transformation in channel

24432

TRAFO_AXES_IN_5

Axis assignment for the 5th transformation

24434

TRAFO_GEOAX_ASSIGN_TAB_5

Geo-axis assignment for 5th transformation

24440

TRAFO_TYPE_6

Definition of the 6th transformation in channel

24442

TRAFO_AXES_IN_6

Axis assignment for the 6th transformation

24444

TRAFO_GEOAX_ASSIGN_TAB_6

Geo-axis assignment for 6th transformation

24450

TRAFO_TYPE_7

Definition of the 7th transformation in channel

24452

TRAFO_AXES_IN_7

Axis assignment for the 7th transformation

24454

TRAFO_GEOAX_ASSIGN_TAB_7

Geo-axis assignment for 7th transformation

24460

TRAFO_TYPE_8

Definition of the 8th transformation in channel

24462

TRAFO_AXES_IN_8

Axis assignment for the 8th transformation

24464

TRAFO_GEOAX_ASSIGN_TAB_8

Geo-axis assignment for 8th transformation

24700

TRAANG_ANGLE_1

Angle of inclined axis in degrees (1st TRAANG)

24710

TRAANG_BASE_TOOL_1

Distance of tool zero point from origin of geometry axes (1st

TRAANG)

Transformations

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Kinematic transformations

5.10 Data lists

Number

Identifier: $MC_

Description

24720

TRAANG_PARALLEL_VELO_RES_1

Velocity reserve of parallel axis for compensatory motion (1st

TRAANG)

24721

TRAANG_PARALLEL_VELO_RES_2

Velocity reserve of parallel axis for compensatory motion (2nd

TRAANG)

24750

TRAANG_ANGLE_2

Angle of inclined axis in degrees (2nd TRAANG)

24760

TRAANG_BASE_TOOL_2

Distance of tool zero point from origin of geometry axes (2nd

TRAANG)

24770

TRAANG_PARALLEL_ACCEL_RES_1

Axis acceleration reserve of parallel axis for compensatory

motion (1st TRAANG)

24771

TRAANG_PARALLEL_ACCEL_RES_2

Axis acceleration reserve of parallel axis for compensatory

motion (2nd TRAANG)

5.10.1.4

Chained transformations

Channelspecific machine data

Number

Identifier: $MC_

Description

24995

TRACON_CHAIN_1

Transformation chain of the first chained transformation

24996

TRACON_CHAIN_2

Transformation chain of the second chained transformation

24997

TRACON_CHAIN_3

Transformation chain of the third chained transformation

24998

TRACON_CHAIN_4

Transformation chain of the fourth chained transformation

5.10.1.5

Non transformation-specific machine data

Channelspecific machine data

Number

Identifier: $MC_

Description

21110

X_AXIS_IN_OLD_X_Z_PLANE

Coordinate system for automatic Frame definition

21090

MAX_LEAD_ANGLE

Maximum permissible lead angle for orientation programming

21092

MAX_TILT_ANGLE

Maximum permissible side angle for orientation programming

21100

ORIENTATION_IS_EULER

Angle definition for orientation programming

Transformations

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Orientation transformations

6.1 Orientation transformations via kinematic chains

Example of kinematics

The example schematically shows two-axis swivel head kinematics with the axis sequence CA,

as a spatial image and as a kinematic chain.

6ZLYHO KHDG

5RWDU\ D[HV & DQG $

=

&

$

&

$

; < = D[HV

ZKHUH

;

<

=

7DEOH RIIVHW

:RUNSLHFH UHIHUHQFH

=

=

SRLQW

=HUR SRLQW RI WKH ZRUOG

=HUR SRLQW RI WKH ZRUOG

:RUNSLHFH UHIHUHQFH

FRRUGLQDWH V\VWHP

FRRUGLQDWH V\VWHP

SRLQW

Figure 6-1

TRAORI example

See also

Singular positions and handling (Page 224)

6.1.2

Static orientation transformation TRAORI_STAT

Static orientation transformations differ from dynamic orientation transmissions in that it is not

possible to carry out interpolator compensating movements in such a way that the tool tip

adheres to the path programmed in the NC program in the workpiece coordinate system.

However, all of the functions are available for approaching the correct end points, taking the

required compensation movements into consideration.

Transformations

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219

Orientation transformations

6.2 3 to 5-axis transformation

6.2.2

Machine types for 5-axis transformation

Depending on the orientation capability of tool and workpiece, machines are classified

according to machine types 1, 2 and 3.

=

<

&

<

$

%

;

;

=

=

<

&

&

$

;

Figure 6-2

Machine types 5-axis transformation

Machine types

Number

Swivel head

workpiece table

Machine type

Tool

①

Rotary axes A and C

fixed

Two-axis swivel head with the axis arrange-

Orientable

ment CA

②

Rotary axis B

Rotary axis C

Single-axis swivel head and single-axis ro-

Orientable tool and

tary table with the axis sequence BC

workpiece

③

fixed

Rotary axes A and C

Two-axis rotary table with the axis arrange-

Workpiece that can be

ment AC

oriented

Transformations

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223

Orientation transformations

6.2 3 to 5-axis transformation

End angle tolerance for interpolation by pole for 5-axis transformation

This machine data identifies a limit angle for the 5th axis of the first MD24540

$MC_TRAFO5_NON_POLE_LIMIT_1 or the second MD24640

$MC_TRAFO5_NON_POLE_LIMIT_2 5-axis transformation with the following properties:

With interpolation through the pole point, only the fifth axis moves; the fourth axis remains in

its start position. If a movement is programmed which does not pass exactly through the pole

point, but is to pass within the tolerance defined by the following machine data in the vicinity of

the pole, a deviation is made from the specified path because the interpolation runs exactly

through the pole point:

• MD24530 $MC_TRAFO5_NON_POLE_LIMIT_1

• MD24630 $MC_TRAFO5_NON_POLE_LIMIT_2

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

programmed value.

This machine data specifies the angle by which the pole axis may deviate from the programmed

value with a 5-axis transformation if a switchover is made from the programmed interpolation

to interpolation through the pole point. In the case of a greater deviation, an error message is

output and the interpolation is not executed.

0'

0&B75$)2 B32/(B/,0,7B

D

WK D[LV 5$

0'

0&B75$)2 B121B32/(B/,0,7B

WK D[LV

5$

Figure 6-3

5-axis transformation; orientation path in pole vicinity. Example for machine type 1: 2-axis

swivel head with rotary axis RA 1 (4th axis of transformation) and rotary axis RA 2 (5th axis

of transformation)

In addition to the body cone, a second narrower tolerance cone can be defined with MD 24542

$MC_TRAFO5_POLE_TOL (end angle tolerance for tool orientation). This sets the behavior of the

polar axis in case the final orientation of a set lies within the body cone. If the end orientation

is within the tolerance cone, the polar axis maintains its starting position and is not moved. This

leads to a deviation of the end orientation from the programmed orientation. The maximum

angle between the orientations is defined by MD 24542 $MC_TRAFO5_POLE_TOL.

Transformations

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Orientation transformations

6.3 Comparison of system variables and machine data

Behavior during large circle interpolation at pole position

The following machine data can be used to set the response for large circle interpolation in pole

position as follows:

MD21108 $MC_POLE_ORI_MODE

Does not define the treatment of changes in orientation during large circle interpolation unless

the starting orientation is equal to the pole orientation or approximates to it and the end

orientation of the block is outside the tolerance circle defined in the following machine data:

• MD24530 $MC_TRAFO5_NON_POLE_LIMIT_1

• MD24630 $MC_TRAFO5_NON_POLE_LIMIT_2

The position of the polar axis is arbitrary in the polar position. For the large circle interpolation,

however, a specified orientation is required for this axis.

The following machine data is coded decimally:

MD21108 $MC_POLE_ORI_MODE

The units define the behavior if start orientation coincides with pole position and the decade

the behavior if start orientation is within the tolerances defined by the following machine data:

• MD24530 $MC_TRAFO5_NON_POLE_LIMIT_1

• MD24630 $MC_TRAFO5_NON_POLE_LIMIT_2

All setting values are described in "Channel-specific machine data".

6.3

Comparison of system variables and machine data

Comparison of transformation system variables and machine data

Machine kinematics and transformations can be created via kinematic chains with system

variables or via machine data (conventional method). The following table shows a list of system

variables and machine data that correspond to each other.

System variables for kinematic chains

Machine data for orientation transformations

Tool carrier data

$NT_NAME

---

$TC_CARR34

$NT_GEO_AX_NAME

$MC_TRAFO_GEOAX_ASSIGN_TAB_n or $MC_TRA-

$MC_GEOAX_AS-

FO_AXES_IN_n[0..2]

SIGN_TAB

$NT_ROT_AX_NAME

$MC_AXCONF_CHANAX_NAME_TAB or $MC_TRA-

$TC_CARR35 / 36

FO_AXES_IN_n[3..5]

$NT_ROT_AX_POS

---

$TC_CARR13 / 14

$NT_BASE_ORIENT

$MC_TRAFO5_BASE_ORIENT_n

---

NT_BASE_ORIENT_NORMAL

$MC_TRAFO6_BASE_ORIENT_NORMAL_n

---

$NT_TRAFO_INCLUDES_TOOL

$MC_TRAFO_INCLUDES_TOOL_n

---

$NT_POLE_LIMIT

$MC_TRAFO5_POLE_LIMIT_n

---

$NT_POLE_TOL

$MC_TRAFO5_POLE_TOL_n

---

$NT_ROT_OFFSET_FROM_FRAME *)

$MC_TRAFO5_ROT_OFFSET_FROM_FR_n

---

$NT_IDENT

---

$TC_CARR37

Transformations

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227

Orientation transformations

6.4 Parameterization via kinematic chains

$NT_AUX_POS

---

$TC_CARR38 / 40

$NT_ROT_AX_OFFSET

$MC_TRAFO5_ROT_AX_OFFSET_n

---

Note

*)

The machine data $MC_TRAFO5_ROT_OFFSET_FROM_FR_n is of the type BOOL, i.e. it can take

on the two values TRUE or FALSE. The system data $NT_ROT_OFFSET_FROM_FRAME is of the

type CHAR because it is also used for other transformations (e.g. Transmit) and more than two

different values are required for these transformations. In the context of an orientation

transformation, the value 0 corresponds to the truth value FALSE and any value not equal to 0

corresponds to the truth value TRUE.

6.4

Parameterization via kinematic chains

6.4.1

3 to 5-axis transformation via kinematic chains

6.4.1.1

Definition of the machine kinematics

Definition of the kinematic chain

The machine kinematics is defined by a kinematic chain. It consists of the following sub-chains:

• Part chain (workpiece chain)

• Tool chain

The geometry is defined with the system variables of type $NK_XX.

• Linear axes via $NK_TYPE = AXIS_LIN

• Rotary axes via $NK_TYPE = AXIS_ROT

Linear axes (geometry axes)

The movements of the rotary axes are compensated via compensating movements of up to

three linear axes. The linear axes are defined via the kinematic chain as an element of the type

"AXIS_LIN". For the transformation, they are referenced with $NT_GEO_AX_NAME. The

geometry axes do not have to be vertical on top of one another and their position relative to one

another can be changed by means of rotary axes. However, the limitation that they cannot be

linearly dependent on one another applies.

The position of linear axes that are not defined as geometry axes is not changed by the

transformation.

Transformations

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Orientation transformations

6.4 Parameterization via kinematic chains

Example of kinematics

The example schematically shows two-axis swivel head kinematics with the axis sequence CA,

as a spatial image and as a kinematic chain.

6ZLYHO KHDG

5RWDU\ D[HV & DQG $

=

&

$

&

$

; < = D[HV

ZKHUH

;

<

=

7DEOH RIIVHW

:RUNSLHFH UHIHUHQFH

=

=

SRLQW

=HUR SRLQW RI WKH ZRUOG

=HUR SRLQW RI WKH ZRUOG

:RUNSLHFH UHIHUHQFH

FRRUGLQDWH V\VWHP

FRRUGLQDWH V\VWHP

SRLQW

Figure 6-4

TRAORI example

See also

Defining machine kinematics (Page 18)

Transformations

230

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Orientation transformations

6.4 Parameterization via kinematic chains

6.4.1.2

Definition of the transformation

Transformation

The transformation is programmed via system variables of the type $NT_XX. Whether the

defined transformation is a 3, 4 or 5-axis transformation is derived from the number of defined

geometry and rotary axes. It is not necessary to specify a transformation type using a numerical

identifier.

Name of transformation

The transformation is uniquely identified by its name:

$NT_NAME = "<name>"

The transformation can be called by these names.

Transformation type

The types TRAORY_DYN and TRAORI_STAT are available for orientation transformations.

$NT_TRAFO_TYPE = "TRAORI_DYN"

Assigning the first and the last element of the kinematic chain

The following system variables are used to define the start and end points of the kinematic chain

for the transformation:

$NT_T_CHAIN_LAST_ELEM

Name of the last element of the kinematic chain to the tool.

$NT_P_CHAIN_LAST_ELEM

Name of the last element of the kinematic chain to the workpiece.

$NT_T_CHAIN_FIRST_ELEM

Name of the first element in the tool chain

$NT_P_CHAIN_FIRST_ELEM

Name of the first element of the workpiece chain

$NT_CLOSE_CHAIN_T

Reference element for closing the kinematic chain to the workpiece.

Linear axes (geometry axes)

The names of up to 3 linear axes can be specified. These axes are of the type AXIS_LIN and are

defined, for example, as follows:

$NT_GEO_AX_NAME[1,0]

= "X axis"

$NT_GEO_AX_NAME[1,1]

= "Y axis"

$NT_GEO_AX_NAME[1,2]

= "Z axis"

Rotary axes

The names of up to 3 rotary axes can be specified. These axes are of the type AXIS_ROT and are

defined, for example, as follows:

$NT_ROT_AX_NAME[1,0]

= "C axis"

Transformations

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231

Orientation transformations

6.4 Parameterization via kinematic chains

$NT_ROT_AX_NAME[1,1]

= "B axis"

The rotary axes must be defined in the order in which they occur in the kinematic chain (starting

from the end of the part chain to the end of the tool chain). The entries must begin with the index

"0" and must not contain any gaps.

Offsets for rotary axes

The system variable $NT_ROT_AX_OFFSET allows you to enter an angle offset for the rotary

axes of the active transformation.

Principle

An orientation transformation is defined, for example, via the elements displayed in the graphic.

& D[LV

17B527B$;B1$0(>P F@

% D[LV

17B527B$;B1$0(>P E@

; < = D[HV

%DVH WRRO RIIVHW

17B*(2B$;B1$0(>P [@

17B7B&+$,1B/$67B(/(0

17B*(2B$;B1$0(>P \@

17B*(2B$;B1$0(>P ]@

7RRO UHIHUHQFH SRLQW

:RUNSLHFH UHIHUHQFH

SRLQW

7DEOH RIIVHW

17B3B&+$,1B/$67B(/(0

=HUR SRLQW RI WKH ZRUOG

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Figure 6-5

Transformation elements in the kinematic chain

Transformations

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6.4 Parameterization via kinematic chains

6.4.2

Additive system variable for orientation transformation

6.4.2.1

Overview

System variable

Meaning

$NT_BASE_ORIENT

Basic tool orientation

$NT_BASE_ORIENT_NORMAL

Normal vector of the orientation

$NT_ROT_AX_POS

Axis positions of the orientation axes, which are parameterized as

constant rotations

$NT_POLE_LIMIT

End angle tolerance with interpolation through pole

$NT_POLE_TOL

End angle tolerance for pole interpolation

$NT_IGNORE_TOOL_ORIENT

Always take tool orientation from $NT_BASE_ORIENT /

$NT_BASE_ORIENT_NORMAL.

$NT_CORR_ELEM_T

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

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

$NT_CORR_ELEM_P

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

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

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

Note

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.

6.4.2.2

$NT_BASE_ORIENT

Function

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

tool orientation is in effect if no tool is selected.

Syntax

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

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Orientation transformations

6.4 Parameterization via kinematic chains

Meaning

$NT_BASE_ORIENT:

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

Data type:

REAL

Default value:

(0.0, 0.0, 1.0)

Value range:

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

<n>:

System variable or transformation index

Data type:

INT

Value range:

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

<k>:

Index of the coordinates

Data type:

INT

Range of val-

0: X coordinate (abscissa)

ues:

1: Y coordinate (ordinate)

2: Z coordinate (applicate)

<VectorComp>:

Coordinate value of the vector component

Data type:

STRING

Example

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

2.0, 3.0):

Program code

Comment

; 1st transformation,

; vector components:

N100 $NT_BASE_ORIENT[1,0] = 1.0

; X coordinate (abscissa)

N110 $NT_BASE_ORIENT[1,1] = 2.0

; Y coordinate (ordinate)

N120 $NT_BASE_ORIENT[1,2] = 3.0

; Z coordinate (applicate)

6.4.2.3

$NT_BASE_ORIENT_NORMAL

Function

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

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

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

Syntax

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

$NT_BASE_ORIENT_NORMA

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

L:

Data type:

REAL

Default value:

(0.0, 1.0, 0.0)

Value range:

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

Transformations

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<n>:

System variable or transformation index

Data type:

INT

Value range:

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

<k>:

Index of the coordinates

Data type:

INT

Range of val-

0: X coordinate (abscissa)

ues:

1: Y coordinate (ordinate)

2: Z coordinate (applicate)

<VectorComp>:

Coordinate value of the vector component

Data type:

STRING

Example

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

-1.0, 3.0):

Program code

Comment

; 1st transformation,

; vector components:

N100 $NT_BASE_ORIENT_NORMAL[1,0] =

2.0

; X coordinate (abscissa)

N110 $NT_BASE_ORIENT_NORMAL[1,1] = -1.0

; Y coordinate (ordinate)

N120 $NT_BASE_ORIENT_NORMAL[1,2] =

3.0

; Z coordinate (applicate)

6.4.2.4

$NT_POLE_LIMIT

Function

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

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

End angle

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

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

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

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

from the programmed value.

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

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Orientation transformations

6.4 Parameterization via kinematic chains

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

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

&

6

(

˞

(

˖

$

①

Pole

②

Equatorial plane

③

Programmed path

④

Path traveled through the pole

⑤

End angle

A

Rotary axis about the X coordinate axis of the WCS

C

Rotary axis about the Z coordinate axis of the WCS

S

Starting point of the interpolation / traversing block

E

Approached end point

E'

Programmed end point

α

End angle

Ω

Maximum permitted end angle ($NT_POLE_LIMIT)

Syntax

$NT_POLE_LIMIT[<n>] = <PoleTolAngle>

Meaning

$NT_POLE_LIMIT:

Pole angle

Unit:

Degrees

Data type:

REAL

Default value:

2.0

Range of val-

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

ues:

Transformations

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6.4 Parameterization via kinematic chains

<n>:

System variable or transformation index

Data type:

INT

Range of val-

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

ues:

<PoleTolAngle>:

Tolerance value

Data type:

REAL

Example

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

Program code

Comment

N100 $NT_POLE_LIMIT[1] = 2.54

; 1st transformation,

; pole angle

6.4.2.5

$NT_POLE_LIMIT

Function

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

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

End angle

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

system, consisting of meridians and parallels.

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

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

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

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

from the programmed value.

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

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

to the interpolation through the pole point.

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

not carried out.

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

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

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

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

may not arise under certain circumstances.

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Orientation transformations

6.4 Parameterization via kinematic chains

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

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

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

&

6

(

˞

(

˖

$

①

Pole

②

Equatorial plane

③

Programmed path

④

Path traveled through the pole

⑤

End angle

A

Rotary axis about the X coordinate axis of the WCS

C

Rotary axis about the Z coordinate axis of the WCS

S

Starting point of the interpolation / traversing block

E

Approached end point

E'

Programmed end point

α

End angle

Ω

Maximum permitted end angle ($NT_POLE_LIMIT)

Syntax

$NT_POLE_LIMIT[<n>] = <PoleTolAngle>

Meaning

$NT_POLE_LIMIT:

Pole angle

Unit:

Degrees

Data type:

REAL

Default value:

2.0

Value range:

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

Transformations

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6.4 Parameterization via kinematic chains

<n>:

System variable or transformation index

Data type:

INT

Range of val-

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

ues:

<PoleTolAngle>:

Tolerance value

Data type:

REAL

Example

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

Program code

Comment

N100 $NT_POLE_LIMIT[1] = 2.54

; 1st transformation,

; pole angle

6.4.2.6

$NT_POLE_TOL

Function

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

must be entered in the system variable.

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

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

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

other rotary axis accepts the programmed angle.

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

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

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

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

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

Syntax

$NT_POLE_TOL[<n>] = <PoleTolLim>

Meaning

$NT_POLE_TOL:

End angle tolerance for pole interpolation

Data type:

REAL

Default value:

0.0

Value range:

0.0 ≤ x ≤ 45.0

<n>:

System variable or transformation index

Data type:

INT

Value range:

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

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Orientation transformations

6.4 Parameterization via kinematic chains

<PoleTolLim>:

Angle

Data type:

REAL

Example

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

Program code

Comment

N100 $NT_POLE_TOL[1] = 2.54

; 1st transformation,

; end angle tolerance

6.4.2.7

$NT_IGNORE_TOOL_ORIENT

Function

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

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

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

tool orientation, but the orientation parameterized in the system variables $NT_BASE_ORIENT

(Page 233) and $NT_BASE_ORIENT_NORMAL (Page 234) that is used for the calculations of the

movements of the orientation axes.

Syntax

$NT_IGNORE_TOOL_ORIENT[<n>] = <Value>

Meaning

$NT_IGNORE_TOOL_ORIEN

Switchover to the orientation parameterized in the system variables

T:

$NT_BASE_ORIENT and $NT_BASE_ORIENT_NORMAL for calculating the

movements of the orientation axes

Data type:

BOOL

Default value:

FALSE

<n>:

System variable or transformation index

Data type:

INT

Range of val-

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

ues:

<Value>:

Value

Data type:

BOOL

Transformations

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6.4 Parameterization via kinematic chains

Example

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

$NT_BASE_ORIENT and $NT_BASE_ORIENT_NORMAL for calculating the movements of the

orientation axes is activated:

Program code

Comment

N100 $NT_IGNORE_TOOL_ORIENT[1] = TRUE

; 1st transformation,

; orientation as per system variables

6.4.2.8

$NT_CORR_ELEM_T

Function

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

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

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

function CORRTRAFO (Page 341). This is only important for orientation transformations.

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

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

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

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

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

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

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

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

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

Syntax

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

Meaning

$NT_CORR_ELEM_T:

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

Data type:

STRING

Default value:

""

Value range:

Element names of the currently active kinematic chain

<n>:

System variable or transformation index

Data type:

INT

Value range:

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

<k>:

Position in the kinematic tool chain

Data type:

INT

Value range:

0...3

Transformations

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Orientation transformations

6.4 Parameterization via kinematic chains

<CORR_TElementName>:

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

which accepts an offset value (linear offset).

Data type:

STRING

Example

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

Program code

Comment

$NT_CORR_ELEM_T(1,2) = Corr_1;

Refers to a correction element in the tool

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

6.4.2.9

$NT_CORR_ELEM_P

Function

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

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

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

function CORRTRAFO (Page 341). This is only important for orientation transformations.

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

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

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

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

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

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

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

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

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

axis of the part chain).

Syntax

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

Meaning

$NT_CORR_ELEM_P:

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

Data type:

STRING

Default value:

""

Value range:

Element names of the currently active kinematic chain

<n>:

System variable or transformation index

Data type:

INT

Value range:

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

Transformations

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Orientation transformations

6.4 Parameterization via kinematic chains

<k>:

Position in the kinematic tool chain

Data type:

INT

Value range:

0...3

<CORR_PElementName>:

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

which accepts an offset value (linear offset).

Data type:

STRING

Example

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

Program code

Comment

$NT_CORR_ELEM_P(1,2) = Corr_1

Refers to a correction element in the work-

piece chain of transformation "1" and posi-

tion "2".

6.4.2.10

$NT_ROT_AX_POS

Function

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

parameterized in elements of the kinematic chain of the type ROT_CONST, must be entered in

the system variable. The positions of the orientation axes that are effective due to this element

can thus be described without having to know the kinematic structure of the transformation or

the indices of the associated kinematic elements.

Syntax

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

Meaning

$NT_ROT_AX_POS:

Positions of the orientation axes due to the constant rotation

Data type:

REAL

Default value:

(0.0, 0.0, 0.0)

Range of val-

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

ues:

<n>:

System variable or transformation index

Data type:

INT

Range of val-

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

ues:

<k>:

Index of the orientation axes

Data type:

INT

Range of val-

0: 1st orientation axis

ues:

1: 2nd orientation axis

2: 3rd orientation axis

Transformations

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Orientation transformations

6.4 Parameterization via kinematic chains

<OriAxPos>:

Position value

Data type:

REAL

Example

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

are: (0, 0, 45.0°)

Program code

Comment

; 1st transformation,

; positions of the orientation axes:

N100 $NT_ROT_AX_POS[1,0] =

0

; 1st orientation axis

N110 $NT_ROT_AX_POS[1,1] =

0

; 2nd orientation axis

N120 $NT_ROT_AX_POS[1,2] = 45.0

; 3rd orientation axis

6.4.2.11

$NT_ROT_AX_MIN

Function

The system variable contains the minimal position of a rotary axis.

This system variable is only evaluated if both $NT_ROT_AX_MIN[n, i] and $NT_ROT_AX_MAX[n,

i] are not zero. In this case it specifies the minimum permissible position of the rotary axis, which

is referenced with $NT_ROT_AX_NAME[n, i].

Syntax

$NT_ROT_AX_MIN[<n>,<k>] = "<RotAxMin>"

Meaning

$NT_ROT_AX_MIN:

Minimal position of the rotary axis

Data type:

REAL

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

Transformations

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Orientation transformations

6.5 Parameterization with machine data (conventional)

6.4.2.12

$NT_ROT_AX_MAX

Function

The system variable contains the maximum position of a rotary axis.

This system variable is only evaluated if both $NT_ROT_AX_MIN[n, i] and $NT_ROT_AX_MAX[n,

i] are not zero. In this case it specifies the minimum permissible position of the rotary axis, which

is referenced with $NT_ROT_AX_NAME[n, i].

Syntax

$NT_ROT_AX_MAX[<n>,<k>] = "<RotAxMax>"

Meaning

$NT_ROT_AX_MAX:

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

define the rotary axes

Data type:

REAL

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

6.5

Parameterization with machine data (conventional)

6.5.1

Conventional 3 to 5-axis transformations

6.5.1.1

General specifications

Transformation data set

A transformation is defined with a specific number of machine data. All machine data of a

transformation data set are marked using the same prefix <x>. With <x> = 1, 2, 3, ... maximum

number of possible transformations in the channel.

Transformations

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Orientation transformations

6.5 Parameterization with machine data (conventional)

Example based on the transformation type of a transformation: MD24100

$MC_TRAFO_TYPE_<x>

• Transformation type of the first transformation: MD24100 $MC_TRAFO_TYPE_1

• Transformation type of the second transformation: MD24100 $MC_TRAFO_TYPE_2

• ...

Axis names

While a transformation is active, the channel, geometry and machine axis names within a

channel 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)

6.5.1.2

Configuration of a machine for 5-axis transformation

Maximum number of 5-axis transformations per channel

Currently, no more than four 5-axis transformations can be parameterized per channel

Transformation type

The transformation type that is dependent on the machine type is set in machine data:

MD24100 $MC_TRAFO_TYPE_<x> = <transformation type>

where x = 1, 2, ... maximum number of transformations

Axis se-

Machine type 1

Machine type 2

Machine type 3

quence of

(tool that can be swiveled/

(workpiece that can be

(tool/workpiece that can

the machine

rotated)

swiveled/rotated)

be swiveled/rotated)

Transformation type

Transformation type

Transformation type

AB

16

32

48

AC

--- ¹⁾

33

49

BA

18

34

50

BC

--- ¹⁾

35

51

CA

20

--- ¹⁾

--- ¹⁾

CB

21

--- ¹⁾

--- ¹⁾

¹⁾ Not a practical combination, as a rotation of the C axis would only correspond to a rotation of the tool

around its own longitudinal axis (symmetrical axis).

Transformations

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Orientation transformations

6.5 Parameterization with machine data (conventional)

Geometry information

Information concerning machine geometry is required so that the 5-axis transformation can

calculate axis values: This information is stored in the machine data (in this case, for the first

transformation in the channel):

• $MC_TRAFO5_PART_OFFSET_<x> (workpiece-oriented offset)

where x = 1, 2, ... maximum number of transformations in the channel

- Machine type 1:

Vector from machine reference point to table zero point (generally, the zero vector)

- Machine type 2:

Vector components from the last rotating joint of the table to the zero point of the

table ①.

&

%

Figure 6-6

Machine data $MC_TRAFO5_PART_OFFSET_1 for machine type 2

– Machine type 3 (single-axis swivel head and single-axis rotary table)

Vector from joint of rotary table to zero point of table

• $MC_TRAFO5_JOINT_OFFSET_<x> (vector of kinematic offset)

where x = 1, 2, ... maximum number of transformations in the channel

- Machine type 1 and 2:

Vector from the first to the second swivel joint

- Machine type 3:

Vector from machine zero point to the swivel joint of the table

• $MC_TRAFO5_ROT_AX_OFFSET_<x> (position offset of rotary axes 1 / 2 / 3)

where x = 1, 2, ... maximum number of transformations in the channel

Transformations

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Orientation transformations

6.5 Parameterization with machine data (conventional)

Examples

&

$

MR

$

&

WR

WR

W

W

PR

PR

[

[

SR

SR

=

;

①

Machine zero

②

Zero point tool table

mo

Position vector in MCS

po

$MC_TRAFO5_PART_OFFSET_<x>[0 ..2]

x

Vector of programmed position in BCS

t

Tool correction vector

to

$MC_TRAFO5_BASE_TOOL_<x>[0 .. 2]

jo

MD24560 $MC_TRAFO5_JOINT_OFFSET_<x>[0 .. 2]

Figure 6-7

Schematic diagram of CA kinematics, moved tool

Transformations

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