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SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 101

Orientation transformations

6.11 Cardan milling head

6.11

Cardan milling head

6.11.1

Universal milling head

Function

A machine tool with a universal milling head has got at least 5 axes:

•

3 linear axes

- for linear movement [X, Y, Z]

- move the machining point to any random position in the working area

•

2 rotary swivelling axes

- are arranged under a configurable angle (mostly 45 Degree)

- enable the tool to define orientations in space

(are limited to a hemisphere in a 45 degree arrangement)

$ಿ

˳

&

7RRO D[LV

Figure 6-33

Schematic diagram of a machine tool with universal milling head

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6.11 Cardan milling head

6.11.2

Fundamentals of cardan milling head

Note

To understand the transformation for the cardan milling head, knowledge of the general 5-axis

transformation according to Chapter "3 to 5-axis transformation (Page 220)" is assumed. Please

note that where no specific statements relating to the cardan milling head are made in the

following section, the statements relating to general 5-axis transformation apply.

A cardan milling head cannot be defined by a kinematic chain.

Applications

A cardan milling head is used for machining contours of sculptured parts at high feedrates. An

excellent degree of machining accuracy is achieved thanks to the rigidity of the head.

$ಿ

˳

˳

$ಿ

=

=

&

7RRO D[LV

&

7RRO D[LV

;

;

Figure 6-34

Schematic representation of the cardan milling head versions

Configuring the nutator angle φ

The angle of the inclined axis can be configured in a machine data:

$MC_TRAFO5_NUTATOR_AX_ANGLE_1: for the first orientation transformation

$MC_TRAFO5_NUTATOR_AX_ANGLE_2: for the second orientation transformation

The angle must lie within the range of 0 degrees to +89 degrees.

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6.11 Cardan milling head

Tool orientation

Tool orientation at zero position can be specified as follows:

• parallel to the first rotary axis or

• perpendicular to it, and in the plane of the specified axis sequence

Types of kinematics

The axis sequence of the rotary axes and the orientation direction of the tool at zero position are

set for the different types of kinematics using the following machine data:

$MC_TRAFO_TYPE_1 ... $MC_TRAFO_TYPE_10

Axis designation scheme

As for the other 5-axis transformations, the following applies:

the rotary axis

...A is parallel to X: A' is below the angle φ to the X axis

...B is parallel to Y: B' is below angle φ to the Y axis

...C is parallel to Z: C' is below angle φ to the Z axis

Angle definition

&

$

=

˳

<

$v

;

Figure 6-35

Position of axis A'

Axis A' is positioned in the plane spanned by the rectangular axes of the designated axis

sequence. If the axis sequence is CA', for example, the axis A' is positioned in the plane Z-X. The

angle φ is then the angle between the A' axis and the X axis.

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6.11 Cardan milling head

6.11.3

Parameterization

Setting the type of transformation

The transformation type is set with the machine data of the corresponding transformation data

block:

MD24100, ... MD25190 $MC_TRAFO_TYP_n, with n = 1, 2, 3, ...

Bit

<value>

Description

7

1

Activation of the transformation for cardan milling head

6 - 5

Moving component

00

Movable tool

01

Movingworkpiece

10

movable tool and workpiece

4 - 3

Direction of orientation of tool in position zero

00

X direction

01

Y direction

10

Z direction

2 - 0

Axis sequence

000

AB' or A'B

001

AC' or A'C

010

BA' or B'A

011

BC' or B'C

100

CA' or C'A

101

CB' or C'B

The following transformation types can be set:

Axis se-

Moving component: Bits 6 - 5

quence:

Tool

Workpiece

Tool/workpiece

Bits 0 - 2

00

01

10

Zero position ¹⁾

Zero position ¹⁾

Zero position ¹⁾

X

Y

Z

X

Y

Z

X

Y

Z

00

01

10

00

01

10

00

01

10

AB' / A'B

x

x

-

-

-

-

-

-

-

000

AC' / A'C

x

-

x

-

-

-

-

-

-

001

BA' / B'A

x

x

-

-

-

-

x

x

010

BC' / B'C

-

x

x

-

x

x

-

-

-

011

CA' / C'A

x

-

x

-

-

-

-

-

-

100

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Orientation transformations

6.11 Cardan milling head

Axis se-

Moving component: Bits 6 - 5

quence:

Tool

Workpiece

Tool/workpiece

Bits 0 - 2

00

01

10

Zero position ¹⁾

Zero position ¹⁾

Zero position ¹⁾

X

Y

Z

X

Y

Z

X

Y

Z

00

01

10

00

01

10

00

01

10

CB' / C'B

-

x

x

-

-

-

-

-

-

101

1) Orientation of the tool in the zero position: Bits 3 - 4

x: Transformation type can be set

-: Transformation type cannot be set

Active machining plane

The tool orientation at the zero position can be set not only in the Z direction. For this reason,

ensure that the active working plane is set so that the tool length compensation acts in the tool

orientation direction.

The active machining plane should always be the plane according to which the tool orientation

is set in position zero.

Other settings

The geometry information used by the cardan milling head transformation for calculation of the

axis values is set in the same way as that of the other 5-axis transformations.

6.11.4

Traverse of the cardan milling head in JOG mode

JOG

In JOG mode, the linear axes can be traversed normally. It is, however, difficult to set the

orientation correctly by traversing these axes.

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6.12 Generic 5-axis transformation and variants

6.12.2

Description of machine kinematics

Machine types

Like the existing 5-axis transformations, there are three different variants of generic 5-axis

transformation:

1. Machine type: Rotatable tool

Both rotary axes change the orientation of the workpiece. The orientation of the workpiece is

fixed.

2. Machine type: Rotatable workpiece

Both rotary axes change the orientation of the workpiece. The orientation of the tool is fixed.

3. Machine type: Rotatable tool and rotatable workpiece - one rotary axis changes the tool

orientation and the other the workpiece orientation.

Configurations

As previously, the machine configurations are defined in the following machine data (see

Section "Configuration of a machine for 5-axis transformation (Page 246)"):

$MC_TRAFO_TYPE_1, ..., _8

Additional types have been introduced for generic 5-axis transformation:

Table 6-1

Overview of machine types for the generic 5-axis transformation

Machine type

1

2

3

Swivel/rotatable:

tool

workpiece

Tool/workpiece

Transformation types

24

40

56

Rotary axis direction

The direction of the rotary axis is defined by the following machine data:

$MC_TRAFO5_AXIS1_n (1st rotary axis) and

$MC_TRAFO5_AXIS2_n (2nd rotary axis)

where n is 1 or 2 for the first or second 5-axis transformation in the system respectively. The

machine data specified above are fields with three values, which describe that axis direction

vectorially (similar to the description of rotary axes for orientable toolholder). The absolute value

of the vectors is insignificant; only the defined direction is relevant.

Example:

1. A-axis is the rotary axis (parallel to the x direction):

MD24570 $MC_TRAFO5_AXIS1_1[0] = 1.0 (direction first rotary axis)

MD24570 $MC_TRAFO5_AXIS1_1[1] = 0.0

MD24570 $MC_TRAFO5_AXIS1_1[2] = 0.0

2. B-axis is the rotary axis (parallel to the y direction):

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6.12 Generic 5-axis transformation and variants

6.12.4

Parameterization of orientable toolholder data

Application

Machine types for which the table or tool can be rotated, can either be operated as true 5-axis

machines or as conventional machines with orientable toolholders. In both cases, machine

kinematics is determined by the same data, which, due to different parameters, previously had

to be entered twice - for toolholder via system variables and for transformations via machine

data. The new transformation type 72 can be used to specify that these two machine types

access identical data.

Transformation type 72

The following machine data can be used to define a generic 5-axis transformation for

transformation type 72 with kinematic data read from the data for an orientable toolholder.

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

MD24200 $MC_TRAFO_TYPE_2 (definition of transformation 2 in the channel)

From this number data is made available via machine data MD24582

$MC_TRAFO5_TCARR_NO_1 (TCARR-Number for the first 5-axis transformation) for the first or

MD24682 $MC_TRAFO5_TCARR_NO_2 (TCARR-Number for the second 5-axis transformation)

for the second orientation transformation. The corresponding transformation type can then be

derived from the content of kinematic type with parameter $TC_CARR23 - see following table.

Table 6-2

Machine types for generic 5-axis transformation

Machine type

1

2

3

4

Swivel/

tool

workpiece

Tool/workpiece

Type 3 or orienta-

rotatable:

ble toolholder

Kinematic type:

T

P

M

T, P, M

Transformation

24

40

56

72 from content of

type:

$TC_CARR23

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6.12 Generic 5-axis transformation and variants

Note

The transformation only takes place if the orientable toolholder concerned is available and the

value of $TC_CARR23 contains a valid entry for type M, P or T kinematics in lower or upper case.

Transformation machine data for the first orientation transformation listed in the tables below

are equally valid for the second orientation transformation. All other machine data that may

affect the transformation characteristics and do not appear in the tables below, remain valid and

effective:

MD24110/MD24210 $MC_TRAFO_AXES_IN_1/2 (axis assignment for transformation) or

MD24574/MD24674 $MC_TRAFO5_BASE_ORIENT_1/2 (basic tool orientation)

If in the tables below a second additive parameter appears in brackets for the parameters of the

orientable toolholder (e.g. $TC_CARR24 (+ $TC_TCARR64)), the sum of both values will only be

effective if the fine offset specified in setting data is active when the data is transferred from the

orientable toolholder.

SD42974 $SC_TOCARR_FINE_CORRECTION = TRUE (fine offset TCARR on/off)

Activation

The most significant parameter values of an orientable toolholder for a transformation can be

activated in the part program with NEWCONF. Alternatively, the machine data concerned for

transformation type 72 can be activated via the HMI user interface.

Assignment for all types of transformation

The assignments between the toolholder data for writing the linear offsets and the

corresponding machine data for kinematic transformations are determined by the

transformation type. The following assignment of all other parameters is identical for all three

possible types of transformation:

Assignment for all types of transformation together identical

MD24100 $MC_TRAFO_TYPE_1 (definition of transfor-

24

$TC_CARR23 =

T

mation 1 in the channel)

40

P

56

M

MD24570 $MC_TRAFO5_AXIS1_1[0] (direction 1st rotary axis)

$TC_CARR7

MD24570 $MC_TRAFO5_AXIS1_1[1]

$TC_CARR8

MD24570 $MC_TRAFO5_AXIS1_1[2]

$TC_CARR9

MD24572 $MC_TRAFO5_AXIS2_1[0] (direction 2nd rotary axis)

$TC_CARR10

MD24572 $MC_TRAFO5_AXIS2_1[1]

$TC_CARR11

MD24572 $MC_TRAFO5_AXIS2_1[2]

$TC_CARR12

MD24510 $MC_TRAFO5_ROT_AX_OFFSET_1[0] (position offset of

$TC_CARR24 (+$TC_TCARR64)

rotary axes 1/2/3 for 5-axis transformation) 1)

MD24510 $MC_TRAFO5_ROT_AX_OFFSET_1[1]

$TC_CARR25 (+$TC_TCARR65)

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Assignment for all types of transformation together identical

MD24520 $MC_TRAFO5_ROT_SIGN_IS_PLUS_1[0] (sign of rotary ax-

TRUE*

is 1/2/3 for 5-axis transformation 1)

MD24520 $MC_TRAFO5_ROT_SIGN_IS_PLUS_1[1]

TRUE*

*) Machine data MD24520/MD24620 $MC_TRAFO5_ROT_SIGN_IS_PLUS_1/2 are redundant.

They are used to invert the direction of rotation of the assigned rotary axis. However, this can

also be achieved by inverting the direction of axis vector $MC_TRAFO5_AXIS1/2_1/2. It is for this

reason that there is no corresponding parameter for the orientable toolholder. For the purpose

of absolute clarity, the following machine data must be ignored:

MD24520/MD24620 TRAFO5_ROT_SIGN_IS_PLUS_1/2

Assignments for transformation type 24

Toolholder data assignments dependent on transformation type 24

Transformation type "T" (in accordance with MD24100 $MC_TRAFO_TYPE_1 = 24)

MD24500 $MC_TRAFO5_PART_OFFSET_1[0] (transla-

$TC_CARR1 (+$TC_TCARR41)

tion vector of 5-axis transformation 1)

MD24500 $MC_TRAFO5_PART_OFFSET_1[1]

$TC_CARR2 (+$TC_TCARR42)

MD24500 $MC_TRAFO5_PART_OFFSET_1[2]

$TC_CARR3 (+$TC_TCARR43)

MD24560 $MC_TRAFO5_JOINT_OFFSET_1[0] (vector

$TC_CARR4 (+$TC_TCARR44)

of the kinematic offset of 5-axis transformation 1)

MD24560 $MC_TRAFO5_JOINT_OFFSET_1[1]

$TC_CARR5 (+$TC_TCARR45)

MD24560 $MC_TRAFO5_JOINT_OFFSET_1[2]

$TC_CARR6 (+$TC_TCARR46)

MD24550 $MC_TRAFO5_BASE_TOOL_1[0] (vector of

$TC_CARR15 (+$TC_TCARR55)

basic tool when 5-axis transformation is active) 1)

MD24550 $MC_TRAFO5_BASE_TOOL_1[1]

$TC_CARR16 (+$TC_TCARR56)

MD24550 $MC TRAFO5_BASE_TOOL_1[2]

$TC_CARR17 (+$TC_TCARR57)

Assignments for transformation type 40

Toolholder data assignments dependent on transformation type 40

Transformation type "P" (in accordance with MD24100 $MC_TRAFO_TYPE_1 = 40)

MD24550 $MC_TRAFO5_BASE_TOOL_1[0]

$TC_CARR4 (+$TC_TCARR44)

MD24550 $MC_TRAFO5_BASE_TOOL_1[1]

$TC_CARR5 (+$TC_TCARR45)

MD24550 $MC_TRAFO5_BASE_TOOL_1[2]

$TC_CARR6 (+$TC_TCARR46)

MD24560 $MC_TRAFO5_JOINT_OFFSET_1[0]

$TC_CARR15 (+$TC_TCARR55)

MD24560 $MC_TRAFO5_JOINT_OFFSET_1[1]

$TC_CARR16 (+$TC_TCARR56)

MD24560 $MC_TRAFO5_JOINT_OFFSET_1[2]

$TC_CARR17 (+$TC_TCARR57)

MD24500 $MC_TRAFO5_PART_OFFSET_1[0]

$TC_CARR18 (+$TC_TCARR58)

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6.12 Generic 5-axis transformation and variants

Transformation type "P" (in accordance with MD24100 $MC_TRAFO_TYPE_1 = 40)

MD24500 $MC_TRAFO5_PART_OFFSET_1[1]

$TC_CARR19 (+$TC_TCARR59)

MD24500 $MC_TRAFO5_PART_OFFSET_1[2]

$TC_CARR20 (+$TC_TCARR60)

Assignments for transformation type 56

Toolholder data assignments dependent on transformation type 56

Transformation type "M" (in accordance with MD24100 $MC_TRAFO_TYPE_1 = 56)

MD24560 $MC_TRAFO5_JOINT_OFFSET_1[0] (vector of

$TC_CARR1 (+$TC_TCARR41)

the kinematic offset of 5-axis transformation 1)

MD24560 $MC_TRAFO5_JOINT_OFFSET_1[1]

$TC_CARR2 (+$TC_TCARR42)

MD24560: TRAFO5_JOINT_OFFSET_1[2]

$TC_CARR3 (+$TC_TCARR43)

MD24550 $MC_TRAFO5_BASE_TOOL_1[0]

$TC_CARR4 (+$TC_TCARR44)

MD24550 $MC_TRAFO5_BASE_TOOL_1[1]

$TC_CARR5 (+$TC_TCARR45)

MD24550 $MC_TRAFO5_BASE_TOOL_1[2]

$TC_CARR6 (+$TC_TCARR46)

MD24558 $MC_TRAFO5_JOINT_OFFSET_PART_1[0]

$TC_CARR15 (+$TC_TCARR55)

MD24558 $MC_TRAFO5_JOINT_OFFSET_PART_1[1]

$TC_CARR16 (+$TC_TCARR56)

MD24558 $MC_TRAFO5_JOINT_OFFSET_PART_1[2]

$TC_CARR17 (+$TC_TCARR57)

MD24500 $MC_TRAFO5_PART_OFFSET_1[0]

$TC_CARR18 (+$TC_TCARR58)

MD24500 $MC_TRAFO5_PART_OFFSET_1[1]

$TC_CARR19 (+$TC_TCARR59)

MD24500 $MC_TRAFO5_PART_OFFSET_1[2]

$TC_CARR20 (+$TC_TCARR60)

Example of parameterization

The first 5-axis transformation is to obtain its data from machine data and the second, in

contrast, is to be parameterized using the data from the 3rd orientable toolholder.

MD24100 $MC_TRAFO_TYPE_1 = 24

; first 5-axis transformation

MD24200 $MC_TRAFO_TYPE_2 = 72

; second 5-axis transformation

MD24682 $MC_TRAFO5_TCARR_NO_2 = 3;

; parameterize data of the third orientable

; toolholder

6.12.5

Extension of the generic transformation to 6 axes

6-axis transformation is an extension of the generic 5-axis transformation to include an

additional rotary axis. This allows rotation of the tool around itself to be defined.

In addition to the machine data for 5-axis transformation, to parameterize 6-axis

transformation, additional settings must be made in the subsequently listed machine data.

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6.12 Generic 5-axis transformation and variants

Parameter assignment: Transformation type

The transformation type is set on a channel-for-channel basis using:

$MC_TRAFO_TYPE_<x> = <transformation type>

The transformation type to be set is obtained from the machine type and/or the allocation of the

three rotary axes regarding tool and workpiece orientation:

<Transformation type>

24 ¹⁾

40 ¹⁾

56 ²⁾

57 ³⁾

Machine type

1

2

3

4

Tool orientation

3 rotary axes

---

2 rotary axes

1 rotary axis

Workpieceorientation

---

3 rotary axes

1 rotary axis

2 rotary axes

1)

The first rotary axis of the transformation is the rotary axis that in the kinematic chain is located next

for the workpiece.

The third rotary axis of the transformation is the rotary axis that in the kinematic chain is located next

for the tool.

When the second rotary axis traverses, then the third rotary axis is also moved.

2)

The second rotary axis of the transformation is the rotary axis that in the kinematic chain is located next

for the workpiece.

The third rotary axis of the transformation is the rotary axis that in the kinematic chain is located next

for the tool.

When the first rotary axis traverses, then the third rotary axis is also moved.

3)

The first rotary axis of the transformation is the rotary axis that in the kinematic chain is located next

for the tool.

The third rotary axis of the transformation is the rotary axis that in the kinematic chain is located next

for the workpiece.

When the second rotary axis traverses, then the third rotary axis is also moved.

Note

Using transformation types 24, 40, 56 and 57, only those kinematics are formed, where the

three linear axes of the transformation form a right-handed Cartesian coordinate system - and,

there is no rotary axis between the linear axes in the kinematic chain.

Parameter assignment: Offset vectors for transformation type 57

For transformation type 57, the same as for rotary axes, the offset vectors are to be specified

starting from the tool to the workpiece zero:

Offset

Machine data

Tool tip → rotary axis 1

$MC_TRAFO5_BASE_TOOL_<x>[ 0 ... 2 ]

Rotary axis 1 → rotary axis 2

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

Rotary axis 2 → rotary axis 3

$MC_TRAFO6_JOINT_OFFSET_2_3_<x>[ 0 ... 2 ]

Rotary axis 3 → workpiece zero

$MC_TRAFO5_PART_OFFSET_<x>[ 0 ... 2 ]

Parameter assignment: Channel axis number of the 3rd rotary axis

The channel axis number of the third rotary axis is set in:

$MC_TRAFO_AXES_IN_<x>[ 5 ] = <channel axis number of the third rotary axis>

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6.12 Generic 5-axis transformation and variants

Orientation normal vector

Vector components (x,y,z) of the orientation normal vector of a tool can be defined in the tool

data using $TC_DPVN3 - $TC_DPVN5. The significance of the vector components is analogous to

the vector components of the orientation vector:

• $TC_DPVN3: Component in the direction of the tool length L1,

• $TC_DPVN4: Component in the direction of the tool length L2

• $TC_DPVN5: Component in the direction of the tool length L3.

The following settings must be made so that the tool data for the orientation normal vector can

be used:

MD18114 $MN_MM_ENABLE_TOOL_ORIENT = 3 (assign tool cutting edges orientation)

The coordinate system is not rotated by rotating the tool with AN3, BN3, CN3 or THETA.

Default setting of the orientation normal vector

The initial state of the orientation normal vector is defined when activating the transformation

in one of the following ways:

1. For a TRAORI function call, vector components (x,y,z) are transferred as parameters 8 - 10:

TRAORI(p1, p2, p3, p4, p5, p6, p7, p8, p9, p10)

2. If, when calling the TRAORI function, no orientation normal vector is specified, and one tool

is active, then vector components (x,y,z) are taken from the tool data:

$TC_DPVN3, $TC_DPVN4, $TC_DPVN5

3. If, when calling the TRAORI function, no orientation normal vector is specified, and no tool

is active, then vector components (x,y,z) are taken from the following machine data:

MD24567 $MC_TRAFO6_BASE_ORIENT_NORMAL_<x>[ 0 ... 2 ] (tool normal vector)

The position of the orientation coordinate system of a standard tool depends on the active

plane (G17, G18, G19) corresponding to the following table:

G17

G18

G19

Direction of the orientation vector

Z

Y

X

Direction of the orientation normal vector

Y

X

Z

See also

Example of a generic 6-axis transformation (Page 367)

6.12.6

Extension of the generic transformation to 7 axes

Application

The generic 5-/6-axis transformation with transformation type 24 is extended by a 7th or

6th axis, which rotates the workpiece. The work space of the transformation can be expanded

in this way.

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6.12 Generic 5-axis transformation and variants

Description of the kinematics

The 7-axis transformation builds on the generic 5-/6-axis transformation.

Note

The 7-axis transformation also covers kinematics in which the 6th axis is not available. In the

following, we speak exclusively about a 7th axis or about a 7-axis transformation, even when it

is actually the 6th axis in connection with a 5-axis kinematics.

The 7-axis transformation types only cover those kinematics in which the three linear axes form

a rectangular Cartesian coordinate system, i.e. no kinematics are covered in which at least one

rotary axis lies between two linear axes in the kinematic chain.

There is only one machine kinematics for which a 7th axis can be configured. It is designated by

the Transformation Type 24:

$MC_TRAFO_TYPE_1 = 24 Rotary tool: Three (or two) axes rotate the tool; the 7th axis rotates

the workpiece.

The extensions of the following machine data are required to configure a generic 7-axis

transformation:

Machine data

extension

$MC_TRAFO_AXES_IN_1[9]

The channel axis index of the 4th rotary axis is recor-

ded here.

$MC_TRAFO_AXES_IN_1[10] and $MC_TRA-

This machine data is to be assigned with default value

FO_AXES_IN_1[11]

of 0. (default setting)

$MC_TRAFO_AXES_IN_1[6..8]

This machine data is not evaluated by the generic 7-

axis transformation.

$MC_TRAFO7_EXT_AXIS1_1[0..2]

The direction of the 4th rotary axis is specified here.

$MC_TRAFO7_EXT_AX_OFFSET_1[0..2]

A position offset of the 4th rotary axis is entered here.

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6.12 Generic 5-axis transformation and variants

MR

$

MR

&

&

PR

WR

W

;

SR

=HUR SRLQW WRRO

(

WDEOH

0DFKLQH ]HUR

mo:

Position vector in MCS

po:

$MC_TRAFO5_PART_OFFSET_n[0..2]

x.

Vector of programmed position in the WCS

t:

Tool correction vector

to:

$MC_TRAFO5_BASE_TOOL_n[0..2]

jo:

$MC_TRAFO5_JOINT_OFFSET_n[0..2]

jo23:

$MC_TRAFO6_JOINT_OFFSET_2_3_n[0..2]

Figure 6-36

Schematic diagram of 7-axis kinematics

Programming

1. Programming the Cartesian position

The position of the 7th axis must be programmed in the workpiece coordination system in

addition to the Cartesian position. The Cartesian position is thus programmed in relation to

the constant workpiece. The 7-axis transformation converts the WCS position via the rotation

of the 7th axis in the basic coordinate system. Possibly programmed or set frames are

normally settled before the 7-axis transformation.

2. Programming of orientation

All programming options of the generic 5/6-axis transformation are available while

programming the orientation. The 7th axis must always be programmed additionally.

Two different response types can be set in this context via the G command.

- The position of the 7th axis does not influence the programmed orientation.

- The programmed end orientation is rotated with the 7th axis.

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6.12 Generic 5-axis transformation and variants

6.12.7

Cartesian manual travel with generic transformation

Note

Option

The "Handling transformation package" option is necessary for the function.

Functionality

With function "Cartesian manual travel", the following Cartesian coordinate system can be set

for traversing geometry and orientation axis in the JOG mode:

• Basic coordinate system (BCS)

• Workpiece coordinate system (WCS)

• Tool coordinate system (TCS)

Traversing motion of linear and rotary axes is realized via the NC/PLC interface signals of the

geometry and/or orientation axes.

Note

For further information about the representation of the translations for the Cartesian manual

travel in the corresponding coordinate systems, see:

Further information

Kinematic transformations (Page 55)

Parameter assignment: Machine data

Coordinate systems

The following machine data not only activates the function, but also sets the permitted

coordinate systems, which can be toggled between:

MD21106 $MC_CART_JOG_SYSTEM, bit n = <value>

Bit n

Value

Meaning

0

1

Function active: Basic coordinate system (BCS)

1

1

Function active: Workpiece coordinate system (WCS)

2

1

Function active: Tool coordinate system (TCS)

Parameter assignment: Setting data

Defining the virtual kinematics for the orientation axes

The active virtual kinematics for manually traversing the orientation axes is defined using the

following setting data. Here, only kinematics can be set, where the rotary axes are perpendicular

to one another.

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6.13 Programming

SD42660 $SC_ORI_JOG_MODE = <value>

Value

Meaning

0

The virtual kinematics are defined using transformation.

1

Rotation with Euler angles: Rotation sequence, ZX'Z'' convention

2

Rotation with Euler angles: XY'Z'' convention (RPY angle)

3

Rotation with Euler angles: Rotation sequence ZY'X'' convention (RPY angles)

4

Defining the rotation sequence using: MD21120 $MC_ORIAX_TURN_TAB_1

5

Defining the rotation sequence using: MD21130 $MC_ORIAX_TURN_TAB_2

Further explanations regarding orientation motion (see Chapters "Orientation (Page 262)" and

"Orientation axes (Page 292)").

Note

For further information on programming the rotations, see:

Further information

"NC Programming" Programming Manual

6.13

Programming

6.13.1

Activating TRAORI_DYN and TRAORI_STAT with TRAFOON

The orientation transformations (TRAORI_DYN and TRAORI_STAT) are activated in the part

program or synchronized action using the TRAFOON or TRAORI instructions. To be able to

activate a transformation parameterized with a kinematic chain with TRAORI_DYN or

TRAORI_STAT, this must be parameterized in the system variable $NT_TRAFO_INDEX (Page 28).

Additional information is provided at:

TRAFOON (Page 52)

TRAORI (Page 349)

Interface signals

The corresponding interface signals are described under Programming of the 3- to 5-axis

transformation (Page 351).

6.13.2

Modifying the orientation transformation after the machine measurement

(CORRTRAFO)

For machines with orientation transformations that were defined by means of kinematic chains,

the user can use the predefined CORRTRAFO function in order to modify the offset vectors or the

direction vectors of the orientation axes in the kinematic model of the machine after a machine

measurement.

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Orientation transformations

6.13 Programming

<Corr_Status>:

Function return value

Data type:

INT

Values:

0

The function was executed without an error.

1

No transformation is active.

2

The currently active transformation is not an orientation trans-

formation.

3

The active orientation transformation was not defined with kin-

ematic chains.

10

The <Corr_Index> call parameter is negative.

11

The <Corr_Mode> call parameter is negative.

12

Invalid reference to a section of a subchain (units position

of <Corr_Index>). The value must not be greater than the

number of orientation axes in the subchain.

13

Invalid reference to the orientation axis of a subchain (units

position of <Corr_Index>). The value must be less than the

number of orientation axes in the subchain.

14

Invalid reference to a subchain (tens position

of <Corr_Index>). Only the values 0 and 1 are permissible

(reference to part or tool chain). This error number occurs if the

subchain to which <Corr_Index> refers does not exist.

15

There is no correction element in the section referred to with

the <Corr_Index> parameter ($NT_CORR_ELEM_P or

$NT_CORR_ELEM_T).

20

Invalid correction mode (units position of <Corr_Mode>). On-

ly the values 0 and 1 are permissible.

21

Invalid correction mode (tens and/or hundreds position

of <Corr_Mode>). Only the units position can be not equal to

zero when writing an axis direction.

30

The hundreds position of <Corr_Mode> is invalid. Only the

values 0 and 1 are permissible.

31

The thousands position of <Corr_Mode> is invalid. Only the

values 0 and 1 are permissible.

40

The direction vector that is to be taken as axis direction is the

zero vector. This error can only happen if the thousands position

of <Corr_Mode> is equal to 0. If the thousands position of this

parameter is equal to 1 (monitoring of the maximum correction

deactivated), the zero vector can also be written.

41

For the correction of an offset vector, the difference to the cur-

rent value in at least one coordinate is greater than the maxi-

mum value specified by the setting data SD41610

$SN_CORR_TRAFO_LIN_MAX. The <Corr_Vect> parameter

will be overwritten by an error vector. This also applies when the

processing is aborted with alarm (see <No_Alarm> parame-

ter).

In the components whose correction value has exceeded the

permissible limit, the error vector has the difference, with the

correct sign, between the determined correction value and the

limit.

The content of the components that have not exceeded their

limit is zero.

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6.13 Programming

42

For the correction of a direction vector, the angular displace-

ment compared to the current direction is greater than the

maximum value specified by the setting data SD41611

$SN_CORR_TRAFO_DIR_MAX.

43

The attempt to write a system variable was rejected because of

missing write rights.

<Corr_Vect>:

Correction vector

The content of the correction vector is defined by the following parameters

<Corr_Index> and <Corr_Mode>.

If <Corr_Status> = 41, the content of the vector is overwritten (see above).

Data type:

REAL

<Corr_Index>:

Section whose correction element is to be modified /

index of the orientation axis whose direction vector is to be modified

Data type:

INT

The <Corr_Index> parameter is decimal coded (units to tens position):

Units

Contains the index of the section or the orientation axis in the sub-

position:

chain.

Tens

Refers to the subchain.

position:

0x

Workpiece chain

1x

Tool chain

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Orientation transformations

6.13 Programming

<Corr_Mode>:

Correction mode

Data type:

INT

The <Corr_Index> parameter is decimal coded (units to thousands position):

Units

Specifies which element is to be corrected.

position:

xxx0

Correction of a linear offset vector

xxx1

Correction of the direction vector of an orientation axis

Tens

Specifies how the correction element to which the content

position:

of <Corr_Index> refers, is to be modified.

xx0x

The correction vector is written immediately to the correc-

tion element.

This variant can be used to immediately write the correction

element without the index <n> of the relevant system data

($NK_OFF_DIR[<n>, ...]) having to be known.

xx1x

As 0, but with the difference that the transferred correction

value is interpreted in world coordinates.

A difference between variants 0 and 1 can always occur

when the kinematic chain in the initial state (positions of all

orientation axes equal to 0) contains other rotations.

xx2x

As 1, but with the difference that the correction value refers

to the entire section, i.e. a value is entered in the correction

element so that the entire section reaches the length de-

fined by the correction value.

Note:

The values 1 and 2 are not permissible when writing the direction

vector of an orientation axis.

Hundreds

Specifies how the content of the <Corr_Vect> parameter is to be

position:

interpreted.

x0xx

The transferred correction vector <Corr_Vect> contains

the entire new length of the correction element or the sec-

tion to which the <Corr_Index> in conjunction with the

tens position of <Corr_Mode> refers (absolute correction).

x1xx

The transferred correction vector <Corr_Vect> only con-

tains the difference compared to the current length of the

correction element or the section to which

the <Corr_Index> in conjunction with the tens position

of <Corr_Mode> refers (incremental correction).

Note:

For the correction of the direction vector of an orientation axis, the

content of the hundreds position must be 0.

Thousands

Specifies whether the correction is to be limited by the following

position:

maximum value:

• SD41610 $SN_CORR_TRAFO_LIN_MAX (Page 24)

or

• SD41611 $SN_CORR_TRAFO_DIR_MAX (Page 24)

0xxx

Monitoring of the maximum correction is active.

1xxx

Monitoring of the maximum correction is not active.

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6.13 Programming

<No_Alarm>:

Behavior in the event of an error (return value > 0) (optional)

Data type:

BOOL

Value:

FALSE

In the event of an error, the program processing is stop-

(default)

ped and alarm 14103 is displayed.

TRUE

In the event of an error, the program processing is not

stopped and no alarm is displayed.

Application: User-specific reaction corresponding to the

return value

Note

In the event of an error when the function is called, either an alarm is output or an error number

returned (see <No_Alarm> parameter), so that the user can respond in a suitable way to the error

state. The cause of the error is described in more detail through an alarm parameter. An error

number returned instead of an alarm is identical to the alarm parameter.

See also

Angular deviation for rotation vectors for CORRTRAFO (Page 24)

Further information on CORRTRAFO

The kinematic structure of a machine with orientation transformation is described by one or two

kinematic chains (subchains), starting from the zero point of the world coordinate system. One

of the two chains, the tool chain, ends at the reference point of the tool, the other chain,

the workpiece chain ends in the zero point of the basic coordinate system.

The CORRTRAFO function writes lever arm lengths and axis directions on machines with an

orientation transformation in special correction elements. A kinematic chain is described, for

example, with elements of the type OFFSET, which are defined via $ NK_TYPE.

CORRTRAFO works with sections

The two subchains can each be divided into a maximum of four sections:

• Section 1 begins at the starting point of the chain and ends at the first orientation axis.

• Section 2 is the section between orientation axis 1 and orientation axis 2.

• Section 3 is the section between orientation axis 2 and orientation axis 3.

• Section 4 is the section between orientation axis 3 and the end of the tool or workpiece chain.

Each section may contain constant chain elements of the type OFFSET or ROT_CONST.

The following figure shows an orientation transformation with 2 orientation axes.

Transformations

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Orientation transformations

6.13 Programming

,

6HFWLRQ

:RUNSLHFH UHIHUHQFH SRLQW

ZRUNSLHFH FKDLQ (QG SRLQW

RI NLQHPDWLF FKDLQ

,

6HFWLRQ

,

6HFWLRQ

Y

˞

Y

˞

=HUR SRLQW RI WKH ZRUOG

FRRUGLQDWH V\VWHP

Figure 6-37

CORRTRAFO example

The sections are clearly defined: If you run through the kinematic subchain from the starting

point to the end point, the first section has the index 0, the next the index 1, and so on. The index

of the last section is then always equal to the number of orientation axes.

Correction elements

A reference can be made to a constant kinematic chain element (chain element of the type

$NK_TYPE[<n>] = "OFFSET") in each section with the $NT_CORR_ELEM_T[<n>, 0 ... 3] or

$NT_CORR_ELEM_P[<n>, 0 ... 3] system variables. The correction values that were determined

during the machine measurement are written to these elements with the CORRTRAFO function.

Example with transformation index = 1:

• $NT_CORR_ELEM_T[1,0] = "C_AXIS_OFFSET"; Offset of the C axis (orientation axis 1) in

section 1 is defined as correction element.

• $NT_CORR_ELEM_T[1,1] = "B_AXIS_OFFSET"; Offset of the B axis (orientation axis 2) in

section 2 is defined as correction element.

• $NT_CORR_ELEM_T[1,2] = "BASE_TOOL_OFFSET"; Offset of the B axis from the tool reference

point in section 3 is defined as correction element.

The sequence of the references in $NT_CORR_ELEM_T/P[<n>, 0 ... 3] must correspond to the

sections described above, i.e. only one chain element can be in $NT_CORR_ELEM_T/P [<n>, 0]

which is before the first orientation axis, etc.

The CORRTRAFO function writes the values determined by measuring the machine into the

correction elements defined in this way. The modification of the correction values is defined in

CORRTRAFO via the <Corr_Mode> parameter.

Closing a chain

If bit 7 or bit 8 are set in the $NT_CNTRL[<n>] system variable, additional constant chain

elements that establish a connection from the end point of the chain to the machine zero point

are automatically inserted internally at the end of the workpiece chain (bit 7) or before the

starting point of the tool chain (bit 8) ("close chain").

These automatically inserted elements cannot be written externally, only read (see the

$AC_TRAFO_CORR_ELEM_P/T system variables).

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6.13 Programming

Meaning

TRAORI:

Activates the first specified orientation transformation

TRAORI(<n>):

Activates the orientation transformation specified by n

<n>:

Number of the transformation

Value:

1 or 2

Example:

TRAORI(1) activates orientation transformation 1

<X>,<Y>,<Z>:

Component of orientation vector to which tool points

<A>,<B>:

Programmable offset for the rotary axes

TRAFOOF:

Deactivate transformation

Tool orientation

Depending on the orientation direction selected for the tool, the active working plane (G17,

G18, G19) must be set in the NC program in such a way that tool length offset works in the

direction of tool orientation.

Note

When the transformation is enabled, the positional data (X, Y, Z) always relates to the tip of the

tool. Changing the positions of the rotary axes involved in the transformation causes

compensating motion of the remaining machine axes - which means that the position of the tool

tip remains unchanged.

Orientation transformation always points from the tool tip to the tool adapter.

Offset for orientation axes

When orientation transformation is activated an additional offset can be programmed directly

for the orientation axes.

Parameters can be omitted if the correct sequence is used in programming.

Example:

TRAORI(, , , ,A,B) ; If only a single offset is to be entered

As an alternative to direct programming, the additional offset for orientation axes can also be

transferred automatically from the work offset currently active. Transfer is configured in the

machine data.

Examples

TRAORI(1,0,0,1)

; The basic orientation of the tool is in the Z direction

TRAORI(1,0,1,0)

; The basic orientation of the tool is in the Z direction

TRAORI(1,0,1,1)

; The basic orientation of the tool is in the Y/Z direction

(corresponds to the position -45°)

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Orientation transformations

6.14 Examples

& D[LV

% D[LV RIIVHW

% D[LV

& D[LV RIIVHW

%DVH WRRO RIIVHW

=HUR SRLQW RI WKH WRRO

FRRUGLQDWH V\VWHP

=HUR SRLQW RI WKH

ZRUNSLHFH FRRUGLQDWH

; < = D[HV

V\VWHP

ZLWK

;

<

=

7DEOH RIIVHW

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FRRUGLQDWH V\VWHP

Figure 6-38

Example kinematics for dynamic orientation transformation

The kinematics is created in several steps:

• The two root elements of the kinematic chain are defined:

- $NK_NEXT\[KIE_CNTR] = "X axis"; chain points to the tool reference point.

- $NK_PARALLEL\[KIE_CNTR] = "Table offset"; chain points to the workpiece

reference point.

• The three mutually perpendicular linear axes X, Y and Z are defined starting from the zero

point of the world coordinate system.

- In the rotation vectors $NK_OFF_DIR, which define the axis directions, only the

individual component that is not equal to zero is described. All of the linear axes have their

origin in the same point, because no constant elements are defined between the

individual axes and no zero point offsets have been specified for the axes either.

• The C axis offset is a constant element, which defines the distance between the linear axes

X, Y, Z and the first rotary axis (C axis). The C axis is a rotary axis which points in the Z direction.

• The B axis offset is a constant element, to which the B axis connects.

• The conclusion is formed by the constant offset "Basetool".

• The kinematic chain to the workpiece reference point is formed by the constant

element "Table offset" of the type Offset.

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Orientation transformations

6.14 Examples

Program code

Comment

$MC_TRAFO_GEOAX_ASSIGN_TAB_n[1] = 0

$MC_TRAFO_GEOAX_ASSIGN_TAB_n[2] = 3

$MC_TRAFO_AXES_IN_n[0] = 1

X axis is channel axis 1

$MC_TRAFO_AXES_IN_n[1] = 0

Y axis is not used

$MC_TRAFO_AXES_IN_n[2] = 3

Z axis is channel axis 3

$MC_TRAFO_AXES_IN_n[4] = 0

There is no second rotary axis

6.14.3.2

Example of a 4-axis transformation

Example: For the schematically represented machine (see "3-axis and 4-axis transformations

(Page 252)"), however, with an additional axis (Y), the 4-axis transformation can be configured

as follows:

Program code

Comment

$MC_TRAFO_TYPE_n = 18

$MC_TRAFO_GEOAX_ASSIGN_TAB_n[0] = 1

$MC_TRAFO_GEOAX_ASSIGN_TAB_n[1] = 2

$MC_TRAFO_GEOAX_ASSIGN_TAB_n[2] = 3

$MC_TRAFO_AXES_IN_n[0] = 1

X axis is channel axis 1

$MC_TRAFO_AXES_IN_n[1] = 2

Y axis is channel axis 2

$MC_TRAFO_AXES_IN_n[2] = 3

Z axis is channel axis 3

$MC_TRAFO_AXES_IN_n[4] = 0

There is no second rotary axis

6.14.4

Example of a universal milling head

General

The following two subsections show the main steps which need to be taken in order to activate

a transformation for the universal milling head.

Machine data

; machine kinematics CA' with tool orientation in zero position in the z direction

$MC_TRAFO_TYPE_1 = 148

$MC_TRAFO_GEOAX_ASSIGN_TAB_1[0] = 1

$MC_TRAFO_GEOAX_ASSIGN_TAB_1[1] = 2

$MC_TRAFO_GEOAX_ASSIGN_TAB_1[2] = 3

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6.14 Examples

The tool vector must point in the X direction.

Program code

Comment

CHANDATA(1)

$MC_TRAFO5_TOOL_VECTOR_1=0

;Tool vector in X direction

$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[0]=4

;Channel index 1st orient. axis

$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[1]=5

;Channel index 2nd orient. axis

$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[2]=6

;Channel index 3rd orient. axis

$MC_ORIAX_TURN_TAB_1[0]=3

;Z direction

$MC_ORIAX_TURN_TAB_1[1]=2

;Y direction

$MC_ORIAX_TURN_TAB_1[2]=3

;Z direction

CHANDATA(1)

M17

=

=

=

=

$

<

&

%

&

<

<

%

$

<

;VWDUW

$

;WDUJHW

;

%

&

;

;

;

Figure 6-39

3 orientation axes for the 1st orientation transformation for kinematics with 6 transformed

axes

Example 2:

3 orientation axes for the 2nd orientation transformation for kinematics with 5 transformed

axes. Rotation must be done in the following sequence:

• firstly about the X axis,

• then about the Y axis and

• finally about the Z axis.

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6.14 Examples

The tool vector must point in the Z direction.

Program code

Comment

CHANDATA(1)

$MC_TRAFO5_TOOL_VECTOR_2=2

;Tool vector in Z direction

$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[0]=4

;Channel index 1st orient. axis

$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[1]=5

;Channel index 2nd orient. axis

$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[2]=0

;Channel index 3rd orient. axis

$MC_ORIAX_TURN_TAB_1[0]=1

;X direction

$MC_ORIAX_TURN_TAB_1[1]=2

;Y direction

$MC_ORIAX_TURN_TAB_1[2]=3

;Z direction

CHANDATA(1)

M17

Z

Z’

C2

Z’’

A2

B2

Y’

Y’’

B2

A2

Y

B2

A2

X

X’

X’’

Figure 6-40

3 orientation axes for the 2nd orientation transformation for kinematics with 5 transformed

axes

The rotation through angle C2 about the Z" axis is omitted in this case, because the tool vector

orientation can be determined solely from angles A2 and B2 and no further degree of freedom

is available on the machine.

Additional information

"NC Programming" Programming Manual

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Orientation transformations

6.14 Examples

Program code

Comment

; basic orientation → B0 C0

N200

TRAORI(,2.0, 3.0, 6.0)

; Pass basic orientation in call

N210

A3=2 B3=3 C3=6

; Orientation parallel to

; basic orientation → B0 C0

N220

TOFRAME

; Z axis points in the direction

; of the orientation

N230

G91 Z7

; 7 mm in new Z direction

; Traverse → X2 Y3 Z6

N240

C3=1

; Orientation parallel to

; New Z axis → B0 C0

N250

M30

6.14.7.2

Example of a generic 6-axis transformation

Call with parameterization using parameters

Activation of a 6-axis transformation with subsequent orientation changes and traversing:

Program code

Comment

N10 A0 B0 X0 Y0 Z0

N20 TRAORI(1, ,,, 0,0,0, 0,1,0)

; Selection using parameters:

; parameters 5, 6, 7: Orientation vector

; Parameters 8, 9, 10: Orientation normal vec-

tor

N30 T1 D1 X10 Y20 Z30 A3=0.5

; Orientation change, rotation

C3=1 BN3=1 ORIPLANE ORIWKS

; and traversing motion

N40 B3=0.5 C3=1 AN3=-1

; Rotation, constant orientation

M30

Call with parameterization using tool data

Defining a tool, where the orientation, with an orientation vector of (1.0 ; 0.0 ; 0.5) deviates from

the standard. For G17, the orientation vector is in the X-Z plane, and starting from the X axis in

the direction of the Z vector, inclined by 26.565 degrees:

tan^-1($TC_DPV5[ 2, 2 ] / $TC_DPV3[ 2, 2 ]) = tan^-1(0.5 / 1.01) = tan^-1(0.5) = 26.565°

The orientation normal vector is also specified. As only $TC_DPVN4[2,2] is not equal to zero, it

points in the Y direction. Orientation vector and orientation normal vector are perpendicular to

one another. Orthogonalization is not necessary. The programmed orientation normal vector is

not modified.

Program code

Comment

N100 $TC_DP1[2,2]=120

; End mill

N110 $TC_DP3[2,2]= 20

; Length offset vector

N120 $TC_DPV[2,2]= 0

; Tool cutting edge orientation

; Orientation vector tool cutting edge

N130 $TC_DPV3[2,2]= 1

; X component

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Orientation transformations

6.14 Examples

Program code

Comment

N140 $TC_DPV4[2,2]= 0

; Y component

N150 $TC_DPV5[2,2]= 0.5

; Z component

; Orientation normal vector

N160 $TC_DPVN3[2,2]= 0

; X component

N170 $TC_DPVN4[2,2]= 1

; Y component

N180 $TC_DPVN5[2,2]= 0

; Z component

N200 TRAORI( )

; Call with basic orientation

N210 A3=5 C3=10 BN3=1

; Bring rotary axes into the initial state

N220 C3=1

; Orientation in the Z direction ⇒

; Tool rotated through 26.565 degrees

N230 THETA=IC(90)

; Orientation normal vector incremental

; Rotated through 90 degrees. Vector points in nega-

tive X direction

N240 M30

6.14.7.3

Example of a generic 7-axis transformation

Example of a generic 7-axis transformation

Activation of a 7-axis transformation with subsequent orientation changes and traversing:

Program

Comment

N10 TRAFOOF

N20 a0 b0 c0 x0 y0 z0 e=0

N30 $MC_TRAFO5_AXIS1_1[2] = 1

;

1. Rotary axis shows in Z direction

N40 $MC_TRAFO5_AXIS1_2[0] = 1

;

2. Rotary axis shows in X direction

N50 $MC_TRAFO5_AXIS1_3[2] = 1

;

3. Rotary axis shows in Z direction

N60 $MC_TRAFO7_EXT_AXIS1_1[0] = 1

;

7. Axis shows in X direction

N70 $MC_TRAFO_BASE_ORIENT_1[2] = 1

;

Orientation vector

N80 $MC_TRAFO_BASE_ORIENT_NORMAL_1[1] = 1

;

Orientation normal vector

N90 NEWCONF

N100 traori()

N110 G1 t1 d1 x10 y0 z50 c3=1 an3=1 bn3=1

orivect oriwks G19 F10000

N120 G2 y50 z0 b3=1 e=DC(90) CR=50

;

1. Quadrant

N130 G2 y0 z-50 c3=-1 e=DC(180) CR=50

;

2. Quadrant

N140 G2 y-50 z0 b3=-1 e=DC(270) CR=50

;

3. Quadrant

N150 G2 y0 z50 c3=1 e=DC(0) CR=50

;

4. Quadrant

N200 M30

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6.15 Data lists

Note

While traversing the quadrant in the example, only the 7th axis turns by 360 degrees. The

machine remains in the fixed position.

6.14.7.4

Example for the modification of rotary axis motion

The machine is a 5-axis machine of machine type 1 (two-axis swivel head with CA kinematics)

on which both rotary axes rotate the tool (transformation type 24). The first rotary axis is a

modulo axis parallel to Z (C axis); the second rotary axis is parallel to Y (B axis) and has a

traversing range from -5 degrees to +185 degrees.

To allow modification at any time, the following machine data has the value 2:

MD21180 $MC_ROT_AX_SWL_CHECK_MODE (check software limits for orientation axes)

N10 X0 Y0 Z0 B0 C0

N20 TRAORI( )

; basic orientation 5-axis transformation

N30 B-1 C10

; Rotary axis positions B-1 and C10

N40 A3=-1 C3=1 ORIWKS

; large circle interpolation in WCS

N50 M30

At the start of block N40 in the example program, the machine is positioned at rotary axis

positions B-1 C10. The programmed end orientation can be achieved with either of the axis

positions B-45 C0 (1st solution) or B45 C180 (2nd solution).

The first solution is selected initially, because it is nearest to the starting orientation and, unlike

the second solution, can be achieved using large circle interpolation (ORIWKS). However, this

position cannot be reached because of the axis limits of the B axis.

The second solution is therefore used instead, i.e. the end position is B45 C180. The end

orientation is achieved by axis interpolation. The programmed orientation path cannot be

followed.

6.15

Data lists

6.15.1

Machine data

6.15.1.1

General machine data

Number Identifier: $MN_

Description

10620

EULER_ANGLE_NAME_TAB

Name of Euler angles or names of orientation axes

10630

NORMAL_VECTOR_NAME_TAB

Name of normal vectors

10640

DIR_VECTOR_NAME_TAB

Name of direction vectors

Transformations

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Orientation transformations

6.15 Data lists

Number Identifier: $MN_

Description

10642

ROT_VECTOR_NAME_TAB

Name of rotation vectors

10644

INTER_VECTOR_NAME_TAB

Name of intermediate vector components

10646

ORIENTATION_NAME_TAB

Identifier for programming a 2nd orientation path

10648

NUTATION_ANGLE_NAME

Name of orientation angle

10670

STAT_NAME

Name of position information

10672

TU_NAME

Name of position information of the axes

10674

PO_WITHOUT_POLY

Permits programming of PO[ ] without POLY having to be

active

6.15.1.2

Channelspecific machine data

Number

Identifier: $MC_

Description

20150

GCODE_RESET_VALUES[n]

Reset G groups

20152

GCODE_RESET_MODE[n]

Setting after RESET/end of part program

20482

COMPRESS_MODE

Mode of the compressor

20621

HANDWH_ORIAX_MAX_INCR_SIZE

Limitation of handwheel increment

20623

HANDWH_ORIAX_MAX_INCR_VSIZE

Orientation velocity overlay

21094

ORIPATH_MODE

Setting for path relative orientation

21100

ORIENTATION_IS_EULER

Angle definition for orientation programming

21102

ORI_DEF_WITH_G_CODE

Definition of orientation angles A2, B2, C2

21104

ORI_IPO_WITH_G_CODE

Definition of interpolation type for orientation

21106

CART_JOG_SYSTEM

Coordinate system for Cartesian JOG

21108

POLE_ORI_MODE

Behavior during large circle interpolation at pole position

21120

ORIAX_TURN_TAB_1[n]

Assignment of rotation of orientation axes about the ref-

erence axes, definition 1 [n = 0..2]

21130

ORIAX_TURN_TAB_2[n]

Assignment of rotation of orientation axes about the ref-

erence axes, definition 2 [n = 0..2]

21132

ORI_DISP_IS_MODULO[n]

Modulo display of the orientation axes positions [n = 0..2]

21134

ORI_DISP_MODULO_RANGE

Size of the module range for the display of the orienta-

tion axes

21136

ORI_DISP_MODULO_RANGE_START

Starting position of the module range for the display of

the orientation axes

21150

JOG_VELO_RAPID_ORI[n]

Rapid traverse in jog mode for orientation axes in the

channel [n = 0..2]

21155

JOG_VELO_ORI[n]

Orientation axis velocity in jog mode [n = 0..2]

21160

JOG_VELO_RAPID_GEO[n]

Rapid traverse in jog mode for geometry axes in the

channel [n = 0..2]

21165

JOG_VELO_GEO[n]

Geometry axis velocity in jog mode [n = 0..2]

21170

ACCEL_ORI[n]

Acceleration for orientation axes [n = 0..2]

21180

ROT_AX_SWL_CHECK_MODE

Check software limits for orientation axes

21186

TOCARR_ROT_OFFSET_FROM_FR

Offset of TOCARR rotary axes

21190

TOFF_MODE

Operation of online offset in tool direction

Transformations

370

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Orientation transformations

6.15 Data lists

Number

Identifier: $MC_

Description

21194

TOFF_VELO

Speed of online offset in tool direction

21196

TOFF_ACCEL

Acceleration of online offset in tool direction

24100

TRAFO_TYPE_1

Definition of transformation 1 in channel

24110

TRAFO_AXES_IN_1[n]

Axis assignment for transformation 1 [axis index]

24120

TRAFO_GEOAX_ASSIGN_TAB_1[n]

Assignment geometry axis to channel axis for transfor-

mation 1 [geometry no.]

24200

TRAFO_TYPE_2

Definition of transformation 2 in channel

24210

TRAFO_AXES_IN_2[n]

Axis assignment for transformation 2 [axis index]

24220

TRAFO_GEOAX_ASSIGN_TAB_2[n]

Assignment geometry axis to channel axis for transfor-

mation 2 [geometry no.]

24300

TRAFO_TYPE_3

Definition of transformation 3 in channel

24310

TRAFO_AXES_IN_3[n]

Axis assignment for transformation 3 [axis index]

24320

TRAFO_GEOAX_ASSIGN_TAB_3[n]

Assignment geometry axis to channel axis for transfor-

mation 3 [geometry no.]

24400

TRAFO_TYPE_4

Definition of transformation 4 in channel

24410

TRAFO_AXES_IN_4[n]

Axis assignment for transformation 4 [axis index]

24420

TRAFO_GEOAX_ASSIGN_TAB_4[n]

Assignment geometry axis to channel axis for transfor-

mation 4 [geometry no.]

24430

TRAFO_TYPE_5

Definition of transformation 5 in channel

24432

TRAFO_AXES_IN_5[n]

Axis assignment for transformation 5 [axis index]

24434

TRAFO_GEOAX_ASSIGN_TAB_5[n]

Assignment geometry axis to channel axis for transfor-

mation 5 [geometry no.]

24440

TRAFO_TYPE_6

Definition of transformation 6 in channel

24442

TRAFO_AXES_IN_6[n]

Axis assignment for transformation 6 [axis index]

24444

TRAFO_GEOAX_ASSIGN_TAB_6[n]

Assignment geometry axis to channel axis for transfor-

mation 6 [geometry no.]

24450

TRAFO_TYPE_7

Definition of transformation 7 in channel

24452

TRAFO_AXES_IN_7[n]

Axis assignment for transformation 7 [axis index]

24454

TRAFO_GEOAX_ASSIGN_TAB_7[n]

Assignment geometry axis to channel axis for transfor-

mation 7 [geometry no.]

24460

TRAFO_TYPE_8

Definition of transformation 8 in channel

24462

TRAFO_AXES_IN_8[n]

Axis assignment for transformation 8 [axis index]

24464

TRAFO_GEOAX_ASSIGN_TAB_8[n]

Assignment geometry axis to channel axis for transfor-

mation 8 [geometry no.]

24470

TRAFO_TYPE_9

Definition of transformation 9 in channel

24472

TRAFO_AXES_IN_9[n]

Axis assignment for transformation 9 [axis index]

24474

TRAFO_GEOAX_ASSIGN_TAB_9[n]

Assignment geometry axis to channel axis for transfor-

mation 9 [geometry no.]

24480

TRAFO_TYPE_10

Definition of transformation 10 in channel

24482

TRAFO_AXES_IN_10[n]

Axis assignment for transformation 10 [axis index]

24484

TRAFO_GEOAX_ASSIGN_TAB_10[n]

Assignment geometry axis to channel axis for transfor-

mation 10 [geometry no.]

24500

TRAFO5_PART_OFFSET_1[n]

Offset vector for 5-axis transformation 1 [n = 0.. 2]

Transformations

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371

Orientation transformations

6.15 Data lists

Number

Identifier: $MC_

Description

24510

TRAFO5_ROT_AX_OFFSET_1[n]

Position offset of rotary axis 1/2 for 5-axis transformation

1 [axis no.]

24520

TRAFO5_ROT_SIGN_IS_PLUS_1[n]

Sign of rotary axis 1/2 for 5-axis transformation 1 [axis

no.]

24530

TRAFO5_NON_POLE_LIMIT_1

Definition of pole range for 5-axis transformation 1

24540

TRAFO5_POLE_LIMIT_1

End angle tolerance with interpolation through pole for

5-axis transformation 1

24550

TRAFO5_BASE_TOOL_1[n]

Vector of base tool for activation of 5-axis transformation

1 [n = 0.. 2]

24558

TRAFO5_JOINT_OFFSET_PART_1[n]

Vector of kinematic offset in table for 5-axis transforma-

tion 1 [n = 0.. 2]

24560

TRAFO5_JOINT_OFFSET_1[n]

Vector of kinematic offset for 5-axis transformation 1 [n

= 0.. 2]

24561

TRAFO6_JOINT_OFFSET_2_3_1[n]

Vector of kinematic offset for 6-axis transformation

2_3_1

24562

TRAFO5_TOOL_ROT_AX_OFFSET_1[n]

Offset of focus of 1st 5-axis transformation with swiveled

linear axis.

24564

TRAFO5_NUTATOR_AX_ANGLE_1

Angle of 2nd rotary axis for the universal milling head

24570

TRAFO5_AXIS1_1[n]

Vector for the first rotary axis and the first orientation

transformation. [n = 0.. 2]

24572

TRAFO5_AXIS2_1[n]

Vector for the second rotary axis and the first transfor-

mation [n = 0.. 2]

24673

TRAFO5_AXIS3_1[n]

Direction of third rotary axis for general 6-axis transfor-

mation

(Transformer type 24, 40, 56, 57)

24574

TRAFO5_BASE_ORIENT_1[n]

Basic orientation for the first transformation [n = 0.. 2]

24576

TRAFO6_BASE_ORIENT_NORMAL_1[n]

Tool normal vector for the first transformation [n = 0.. 2]

24580

TRAFO5_TOOL_VECTOR_1

Tool vector direction for the first 5-axis transformation 1

24582

TRAFO5_TCARR_NO_1

TCARR number for the first 5-axis transformation 1

24585

TRAFO5_ORIAX_ASSIGN_TAB_1[n]

Assignment of orientation axes to channel axes for ori-

entation transformation 1 [n = 0.. 2]

24590

TRAFO5_ROT_OFFSET_FROM_FR_2

Offset of transf. rotary axes from WO

24594

TRAFO7_EXT_ROT_AX_OFFSET_1

Angle offset of the 1st external rotary axis

24595

TRAFO7_EXT_AXIS1_1

Direction of the 1st external rotary axis

24600

TRAFO5_PART_OFFSET_2[n]

Offset vector for 5-axis transformation 2 [n = 0.. 2]

24610

TRAFO5_ROT_AX_OFFSET_2[n]

Position offset of rotary axis 1/2 for 5-axis transformation

2 [axis no.]

24620

TRAFO5_ROT_SIGN_IS_PLUS_2[n]

Sign of rotary axis 1/2 for 5-axis transformation 2 [axis

no.]

24630

TRAFO5_NON_POLE_LIMIT_2

Definition of pole range for 5-axis transformation 2

24640

TRAFO5_POLE_LIMIT_2

End angle tolerance with interpolation through pole for

5-axis transformation 2

24650

TRAFO5_BASE_TOOL_2[n]

Vector of base tool with activation of 5-axis transforma-

tion 2 [n = 0.. 2]

24658

TRAFO5_JOINT_OFFSET_PART_2[n]

Vector of kinematic offset in table for 5-axis transforma-

tion 2 [n = 0.. 2]

Transformations

372

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Orientation transformations

6.15 Data lists

Number

Identifier: $MC_

Description

24660

TRAFO5_JOINT_OFFSET_2[n]

Vector of kinematic offset for 5-axis transformation 2 [n

= 0.. 2]

24661

TRAFO6_JOINT_OFFSET_2_3_2[n]

Vector of kinematic offset for 6-axis transformation

2_3_2

24662

TRAFO5_TOOL_ROT_AX_OFFSET_2[n]

Offset of focus of 2nd 5-axis transformation with swiv-

eled linear axis.

24664

TRAFO5_NUTATOR_AX_ANGLE_2

Angle of the 2nd rotating axis for the universal milling

head

24670

TRAFO5_AXIS1_2[n]

Vector for the first rotary axis and the second orientation

transformation [n = 0.. 2]

24672

TRAFO5_AXIS2_2[n]

Vector for the second rotary axis and the first transfor-

mation [n = 0.. 2]

24673

TRAFO5_AXIS3_2[n]

Direction of third rotary axis for generic 6-axis transfor-

mation (type 24, 40, 56, 57)

24674

TRAFO5_BASE_ORIENT_2[n]

Basic orientation for the second transformation [n = 0..

2]

24676

TRAFO6_BASE_ORIENT_NORMAL_2[n]

Tool normal vector for the second transformation [n = 0..

2]

24680

TRAFO5_TOOL_VECTOR_2

Tool vector direction for the second 5-axis transforma-

tion 2

24682

TRAFO5_TCARR_NO_2

TCARR number for the second 5-axis transformation 2

24685

TRAFO5_ORIAX_ASSIGN_TAB_2[n]

Assignment of orientation axes to channel axes for ori-

entation transformation 2 [n = 0.. 2]

24694

TRAFO7_EXT_ROT_AX_OFFSET_2

Angle offset of the 2nd external rotary axis

24695

TRAFO7_EXT_AXIS1_2

Direction of the 2nd external rotary axis

25294

TRAFO7_EXT_ROT_AX_OFFSET_3

Angle offset of the 3rd external rotary axis

25295

TRAFO7_EXT_AXIS1_3

Direction of the 3rd external rotary axis

25394

TRAFO7_EXT_ROT_AX_OFFSET_4

Angle offset of the 4th external rotary axis

25395

TRAFO7_EXT_AXIS1_4

Direction of the 4th external rotary axis

28580

MM_ORIPATH_CONFIG

Configuration for path relative orientation ORIPATH

6.15.1.3

Channelspecific machine data

Number Identifier: $MC_

Description

20150

GCODE_RESET_VALUES[n]

Basic setting of the G groups

20152

GCODE_RESET_MODE[n]

Setting after RESET/end of part program

20482

COMPRESS_MODE

Mode of the compressor

20621

HANDWH_ORIAX_MAX_INCR_SIZE

Limitation of handwheel increment

20623

HANDWH_ORIAX_MAX_INCR_VSIZE

Orientation velocity overlay

21094

ORIPATH_MODE

Setting for path relative orientation

21100

ORIENTATION_IS_EULER

Angle definition for orientation programming

21102

ORI_DEF_WITH_G_CODE

Definition of orientation angles A2, B2, C2

21104

ORI_IPO_WITH_G_CODE

Definition of the interpolation type for orientation

Transformations

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373

Orientation transformations

6.15 Data lists

Number

Identifier: $MC_

Description

21106

CART_JOG_SYSTEM

Coordinate system for Cartesian JOG

21108

POLE_ORI_MODE

Behavior during large circle interpolation at pole position

21120

ORIAX_TURN_TAB_1[n]

Assignment of rotation of orientation axes about the ref-

erence axes, definition 1 [n = 0..2]

21130

ORIAX_TURN_TAB_2[n]

Assignment of rotation of orientation axes about the ref-

erence axes, definition 2 [n = 0..2]

21132

ORI_DISP_IS_MODULO[n]

Modulo display of the orientation axes positions [n = 0..2]

21134

ORI_DISP_MODULO_RANGE

Size of the module range for the display of the orienta-

tion axes

21136

ORI_DISP_MODULO_RANGE_START

Starting position of the module range for the display of

the orientation axes

21150

JOG_VELO_RAPID_ORI[n]

Rapid traverse in jog mode for orientation axes in the

channel [n = 0..2]

21155

JOG_VELO_ORI[n]

Orientation axis velocity in jog mode [n = 0..2]

21160

JOG_VELO_RAPID_GEO[n]

Rapid traverse in jog mode for geometry axes in the

channel [n = 0..2]

21165

JOG_VELO_GEO[n]

Geometry axis velocity in jog mode [n = 0..2]

21170

ACCEL_ORI[n]

Acceleration for orientation axes [n = 0..2]

21180

ROT_AX_SWL_CHECK_MODE

Check software limits for orientation axes

21186

TOCARR_ROT_OFFSET_FROM_FR

Offset of TOCARR rotary axes

21190

TOFF_MODE

Operation of online offset in tool direction

21194

TOFF_VELO

Speed of online offset in tool direction

21196

TOFF_ACCEL

Acceleration of online offset in tool direction

24100

TRAFO_TYPE_1

Definition of transformation 1 in channel

24110

TRAFO_AXES_IN_1[n]

Axis assignment for transformation 1 [axis index]

24120

TRAFO_GEOAX_ASSIGN_TAB_1[n]

Assignment geometry axis to channel axis for transfor-

mation 1 [geometry no.]

24200

TRAFO_TYPE_2

Definition of transformation 2 in channel

24210

TRAFO_AXES_IN_2[n]

Axis assignment for transformation 2 [axis index]

24220

TRAFO_GEOAX_ASSIGN_TAB_2[n]

Assignment geometry axis to channel axis for transfor-

mation 2 [geometry no.]

24300

TRAFO_TYPE_3

Definition of transformation 3 in channel

24310

TRAFO_AXES_IN_3[n]

Axis assignment for transformation 3 [axis index]

24320

TRAFO_GEOAX_ASSIGN_TAB_3[n]

Assignment geometry axis to channel axis for transfor-

mation 3 [geometry no.]

24400

TRAFO_TYPE_4

Definition of transformation 4 in channel

24410

TRAFO_AXES_IN_4[n]

Axis assignment for transformation 4 [axis index]

24420

TRAFO_GEOAX_ASSIGN_TAB_4[n]

Assignment geometry axis to channel axis for transfor-

mation 4 [geometry no.]

24430

TRAFO_TYPE_5

Definition of transformation 5 in channel

24432

TRAFO_AXES_IN_5[n]

Axis assignment for transformation 5 [axis index]

24434

TRAFO_GEOAX_ASSIGN_TAB_5[n]

Assignment geometry axis to channel axis for transfor-

mation 5 [geometry no.]

24440

TRAFO_TYPE_6

Definition of transformation 6 in channel

Transformations

374

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Orientation transformations

6.15 Data lists

Number

Identifier: $MC_

Description

24442

TRAFO_AXES_IN_6[n]

Axis assignment for transformation 6 [axis index]

24444

TRAFO_GEOAX_ASSIGN_TAB_6[n]

Assignment geometry axis to channel axis for transfor-

mation 6 [geometry no.]

24450

TRAFO_TYPE_7

Definition of transformation 7 in channel

24452

TRAFO_AXES_IN_7[n]

Axis assignment for transformation 7 [axis index]

24454

TRAFO_GEOAX_ASSIGN_TAB_7[n]

Assignment geometry axis to channel axis for transfor-

mation 7 [geometry no.]

24460

TRAFO_TYPE_8

Definition of transformation 8 in channel

24462

TRAFO_AXES_IN_8[n]

Axis assignment for transformation 8 [axis index]

24464

TRAFO_GEOAX_ASSIGN_TAB_8[n]

Assignment geometry axis to channel axis for transfor-

mation 8 [geometry no.]

24470

TRAFO_TYPE_9

Definition of transformation 9 in channel

24472

TRAFO_AXES_IN_9[n]

Axis assignment for transformation 9 [axis index]

24474

TRAFO_GEOAX_ASSIGN_TAB_9[n]

Assignment geometry axis to channel axis for transfor-

mation 9 [geometry no.]

24480

TRAFO_TYPE_10

Definition of transformation 10 in channel

24482

TRAFO_AXES_IN_10[n]

Axis assignment for transformation 10 [axis index]

24484

TRAFO_GEOAX_ASSIGN_TAB_10[n]

Assignment geometry axis to channel axis for transfor-

mation 10 [geometry no.]

24570

TRAFO5_AXIS1_1[n]

Vector for the first rotary axis and the first orientation

transform. [n = 0.. 2]

24572

TRAFO5_AXIS2_1[n]

Vector for the second rotary axis and the first transfor-

mation [n = 0.. 2]

24574

TRAFO5_BASE_ORIENT_1[n]

Basic orientation for the first transformation [n = 0.. 2]

24576

TRAFO6_BASE_ORIENT_NORMAL_1[n]

Tool normal vector for the first transformation [n = 0.. 2]

24585

TRAFO5_ORIAX_ASSIGN_TAB_1[n]

Assignment of orientation axes to channel axes for ori-

entation transformation 1 [n = 0.. 2]

24590

TRAFO5_ROT_OFFSET_FROM_FR_2

Offset of transf. rotary axes from WO

24594

TRAFO7_EXT_ROT_AX_OFFSET_1

Angle offset of the 1st external rotary axis

24595

TRAFO7_EXT_AXIS1_1

Direction of the 1st external rotary axis

24664

TRAFO5_NUTATOR_AX_ANGLE_2

Angle of the 2nd rotating axis for the universal milling

head

24670

TRAFO5_AXIS1_2[n]

Vector for the first rotary axis and the second orientation

transformation [n = 0.. 2]

24672

TRAFO5_AXIS2_2[n]

Vector for the second rotary axis and the first transfor-

mation [n = 0.. 2]

24674

TRAFO5_BASE_ORIENT_2[n]

Basic orientation for the second transformation [n = 0..

2]

24676

TRAFO6_BASE_ORIENT_NORMAL_2[n]

Tool normal vector for the second transformation [n = 0..

2]

24685

TRAFO5_ORIAX_ASSIGN_TAB_2[n]

Assignment of orientation axes to channel axes for ori-

entation transformation 2 [n = 0.. 2]

24694

TRAFO7_EXT_ROT_AX_OFFSET_2

Angle offset of the 2nd external rotary axis

24695

TRAFO7_EXT_AXIS1_2

Direction of the 2nd external rotary axis

25294

TRAFO7_EXT_ROT_AX_OFFSET_3

Angle offset of the 3rd external rotary axis

Transformations

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375

Orientation transformations

6.15 Data lists

Number Identifier: $MC_

Description

25295

TRAFO7_EXT_AXIS1_3

Direction of the 3rd external rotary axis

25394

TRAFO7_EXT_ROT_AX_OFFSET_4

Angle offset of the 4th external rotary axis

25395

TRAFO7_EXT_AXIS1_4

Direction of the 4th external rotary axis

28580

MM_ORIPATH_CONFIG

Configuration for path relative orientation ORIPATH

6.15.2

Setting data

6.15.2.1

General setting data

Number Identifier: $SN_

Description

41110

JOG_SET_VELO

Geometry axes

41130

JOG_ROT_AX_SET_VELO

Orientation axes

6.15.2.2

Channelspecific setting data

Number Identifier $SC_

Description

42475

COMPRESS_CONTOUR_TOL

Maximum contour deviation for the compressor

42476

COMPRESS_ORI_TOL

Maximum angular deviation of the tool orientation for

the compressor

42477

COMPRESS_ORI_ROT_TOL

Maximum angular deviation when rotating the tool for

the compressor

42650

CART_JOG_MODE

Coordinate system for Cartesian manual travel

42660

ORI_JOG_MODE

Definition of virtual kinematics for JOG

42670

ORIPATH_SMOOTH_DIST

Smoothing path of the orientation

42672

ORIPATH_SMOOTH_TOL

Tolerance when smoothing the orientation

42970

AA_OFF_LIMIT

Upper limit for offset value $AA_TOFF

Transformations

376

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