M1: Kinematische Transformation; Einzeltransformationen - Siemens SINUMERIK 828D Funktionshandbuch

MD20070 $MC_AXCONF_MACHAX_USED[1] = 2
MD20070 $MC_AXCONF_MACHAX_USED[2] = 3
MD20070 $MC_AXCONF_MACHAX_USED[3] = 4
MD20070 $MC_AXCONF_MACHAX_USED[4] = 5
MD20070 $MC_AXCONF_MACHAX_USED[5] = 6
MD20070 $MC_AXCONF_MACHAX_USED[6] = 7
MD20070 $MC_AXCONF_MACHAX_USED[7] = 0
MD20080 $MC_AXCONF_CHANAX_NAME_TAB[3]="A"
MD20080 $MC_AXCONF_CHANAX_NAME_TAB[4]="B"
MD20080 $MC_AXCONF_CHANAX_NAME_TAB[5]="C"
MD36902 $MA_IS_ROT_AX[ AX4 ] = TRUE
MD36902 $MA_IS_ROT_AX[ AX5 ] = TRUE
MD36902 $MA_IS_ROT_AX[ AX6 ] = TRUE
MD36902 $MA_IS_ROT_AX[ AX7 ] = TRUE
MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[ AX5 ] = 0
MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[AX7] = 1
MD35000 $MA_ROT_IS_MODULO[AX7] = TRUE

Einzeltransformationen

; 1. TRAORI
MD24470 $MC_TRAFO_TYPE_1= 16
MD24410 $MC_TRAFO_AXES_IN_1[0]=1
MD24410 $MC_TRAFO_AXES_IN_1[1]=2
MD24410 $MC_TRAFO_AXES_IN_1[2]=3
MD24410 $MC_TRAFO_AXES_IN_1[3]=4
MD24410 $MC_TRAFO_AXES_IN_1[4]=5
MD24410 $MC_TRAFO_AXES_IN_1[5]=0
MD24120$MC_TRAFO_GEOAX_ASSIGN_TAB_1[0]=1
MD24120$MC_TRAFO_GEOAX_ASSIGN_TAB_1[1]=2
MD24120$MC_TRAFO_GEOAX_ASSIGN_TAB_1[2]=3
MD24550$MC_TRAFO5_BASE_TOOL_1[0]=0
MD24550$MC_TRAFO5_BASE_TOOL_1[1]=0
MD24550$MC_TRAFO5_BASE_TOOL_1[2]=0
; 2. TRANSMIT
MD24200 $MC_TRAFO_TYPE_2 = 256
MD24210 $MC_TRAFO_AXES_IN_2[0]=1
MD24210 $MC_TRAFO_AXES_IN_2[1]=6
MD24210 $MC_TRAFO_AXES_IN_2[2]=3
MD24210 $MC_TRAFO_AXES_IN_2[3]=0
MD24210 $MC_TRAFO_AXES_IN_2[4]=0
MD24210 $MC_TRAFO_AXES_IN_2[5]=0
MD24210 $MC_TRAFO_AXES_IN_2[6]=0
MD24220 $MC_TRAFO_GEOAX_ASSIGN_TAB_2[0]=1
Erweiterungsfunktionen
Funktionshandbuch, 08/2018, 6FC5397-1BP40-6AA2

M1: Kinematische Transformation

8.4 Verkettete Transformationen
; TRAORI: A-B-Kinematik
;TRANSMIT
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