Siemens SINUMERIK 840DE SL Parts list manual

Transformations
Function Manual
06/2019
A5E47435470B AA
Preface
Fundamental safety
instructions 1
M1: Kinematics
transformation 2
F2: Multi-axis transformations 3
K12 transformation
definitions with kinematic
chains 4
Appendix A
Valid for:
Control system
SINUMERIK 840D sl / 840DE sl
Software
CNC software version 4.92
SINUMERIK
SINUMERIK 840D sl

Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.
DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
indicates that minor personal injury can result if proper precautions are not taken.
NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will be
used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property
damage.
Qualified Personnel
The product/system described in this documentation may be operated only by personnel qualified for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions. Qualified
personnel are those who, based on their training and experience, are capable of identifying risks and avoiding
potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:
WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended or
approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and
maintenance are required to ensure that the products operate safely and without any problems. The permissible
ambient conditions must be complied with. The information in the relevant documentation must be observed.
Trademarks
All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication
may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software described.
Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the information in this
publication is reviewed regularly and any necessary corrections are included in subsequent editions.
Siemens AG
Digital Industries
Postfach 48 48
90026 NÜRNBERG
GERMANY
Document order number: A5E47435470B AA
Ⓟ 06/2019 Subject to change
Copyright © Siemens AG 2019.
All rights reserved

Preface
SINUMERIK documentation
The SINUMERIK documentation is organized into the following categories:
● General documentation/catalogs
● User documentation
● Manufacturer/service documentation
Additional information
You can find information on the following topics at the following address (https://
support.industry.siemens.com/cs/de/en/view/108464614):
● Ordering documentation/overview of documentation
● Additional links to download documents
● Using documentation online (find and search in manuals/information)
If you have any questions regarding the technical documentation (e.g. suggestions,
corrections), please send an e-mail to the following address
(mailto:[email protected]).
mySupport/Documentation
At the following address (https://support.industry.siemens.com/My/ww/en/documentation),
you can find information on how to create your own individual documentation based on
Siemens' content, and adapt it for your own machine documentation.
Training
At the following address (http://www.siemens.com/sitrain), you can find information about
SITRAIN (Siemens training on products, systems and solutions for automation and drives).
FAQs
You can find Frequently Asked Questions in the Service&Support pages under Product
Support (https://support.industry.siemens.com/cs/de/en/ps/faq).
SINUMERIK
You can find information about SINUMERIK at the following address (http://www.siemens.com/
sinumerik).
Transformations
Function Manual, 06/2019, A5E47435470B AA 3

Target group
This publication is intended for:
● Project engineers
● Technologists (from machine manufacturers)
● System startup engineers (Systems/Machines)
● Programmers
Benefits
The function manual describes the functions so that the target group knows them and can
select them. It provides the target group with the information required to implement the
functions.
Standard version
This documentation only describes the functionality of the standard version. Extensions or
changes made by the machine tool manufacturer are documented by the machine tool
manufacturer.
Other functions not described in this documentation might be executable in the control. This
does not, however, represent an obligation to supply such functions with a new control or when
servicing.
Further, for the sake of simplicity, this documentation does not contain all detailed information
about all types of the product and cannot cover every conceivable case of installation, operation
or maintenance.
Note regarding the General Data Protection Regulation
Siemens observes standard data protection principles, in particular the principle of privacy by
design. That means that
this product does not process / store any personal data, only technical functional data (e.g. time
stamps). If a user links this data with other data (e.g. a shift schedule) or stores personal data
on the same storage medium (e.g. hard drive) and thus establishes a link to a person or
persons, then the user is responsible for ensuring compliance with the relevant data protection
regulations.
Technical Support
Country-specific telephone numbers for technical support are provided in the Internet at the
following address (https://support.industry.siemens.com/sc/ww/en/sc/2090) in the "Contact"
area.
Preface
Transformations
4Function Manual, 06/2019, A5E47435470B AA

Information on the structure and contents
Structure
This Function Manual is structured as follows:
● Inner title (page 3) with the title of the Function Manual, the SINUMERIK controls as well as
the software and the version for which this version of the Function Manual is applicable and
the overview of the individual functional descriptions.
● Description of the functions in alphabetical order (e.g. A2, A3, B1, etc.)
● Appendix with:
– List of abbreviations
– Documentation overview
● Index of terms
Note
For detailed descriptions of data and alarms see:
● For machine and setting data:
Detailed machine data description
● For NC/PLC interface signals:
NC Variables and Interface Signals List Manual
● For alarms:
Diagnostics Manual
Notation of system data
The following notation is applicable for system data in this documentation:
Signal/Data Notation Example
NC/PLC interface
signals
... NC/PLC interface signal:
<signal address> (<signal name>)
When the new gear stage is engaged, the following NC/PLC
interface signals are set by the PLC program:
DB31, ... DBX16.0-2 (actual gear stage A to C)
DB31, ... DBX16.3 (gear is changed)
Machine data ... machine data:
<Type><Number> <Complete Des‐
ignator> (<Meaning>)
Master spindle is the spindle stored in the machine data:
MD20090 $MC_SPIND_DEF_MASTER_SPIND (position of de‐
letion of the master spindle in the channel)
Setting data ... setting data:
<Type><Number> <Complete Des‐
ignator> (<Meaning>)
The logical master spindle is contained in the setting data:
SD42800 $SC_SPIND_ASSIGN_TAB[0] (spindle number con‐
verter)
Preface
Transformations
Function Manual, 06/2019, A5E47435470B AA 5

Quantity structure
Explanations concerning the NC/PLC interface are based on the absolute maximum number of
the following components:
● Mode groups (DB11)
● Channels (DB21, etc.)
● Axes/spindles (DB31, etc.)
Data types
The control provides the following data types that can be used for programming in part
programs:
Type Meaning Range of values
INT Signed integers -2.147.483.648 ... +2.147.483.647
REAL Numbers with decimal point ≈ ±5.0*10-324 … ≈ ±1.7*10+308
BOOL Boolean values TRUE (≠0) , FALSE (0)
CHAR ASCII characters and bytes 0 ... 255 or -128 ... 127
STRING Character string, null-terminated Maximum of 400 characters + /0
(no special characters)
AXIS Axis names All axis names available in the control
system
FRAME Geometrical parameters for moving, rotating, scaling, and
mirroring
---
Arrays
Arrays can only be formed from similar elementary data types. Up to 3-dimensional arrays are
possible.
Example: DEF INT ARRAY[2, 3, 4]
Number systems
The following number systems are available:
● Decimal: DEF INT number = 1234 or DEF REAL number = 1234.56
● Hexadecimal: DEF INT number = 'H123ABC'
● Binary: DEF INT number = 'B10001010010'
Querying REAL variables
We recommend that querying REAL or DOUBLE variables in NC programs and synchronized
actions is programmed as limit value evaluation.
Example: Querying the actual value of an axis for a specific value
Program code Comment
DEF REAL AXPOS = 123.456
IF ($VA_IM[<axis>] - 1ex-6) <= AXPOS <= ($VA_IM[<axis>] + 1ex-6) ; actual position
... == AXPOS
Preface
Transformations
6Function Manual, 06/2019, A5E47435470B AA

Program code Comment
ELSE
... <> AXPOS
ENDIF
Preface
Transformations
Function Manual, 06/2019, A5E47435470B AA 7

Preface
Transformations
8Function Manual, 06/2019, A5E47435470B AA

Table of contents
Preface .........................................................................................................................................................3
1 Fundamental safety instructions.................................................................................................................15
1.1 General safety instructions.....................................................................................................15
1.2 Warranty and liability for application examples ......................................................................15
1.3 Industrial security ...................................................................................................................16
2 M1: Kinematics transformation ...................................................................................................................19
2.1 TRANSMIT face end transformation (option).........................................................................19
2.1.1 Function .................................................................................................................................19
2.1.1.1 Introduction ............................................................................................................................19
2.1.1.2 Machining options ..................................................................................................................20
2.1.1.3 Working area limitations.........................................................................................................26
2.1.1.4 Overlaid motions with TRANSMIT .........................................................................................27
2.1.1.5 Monitoring of rotary axis rotations over 360º..........................................................................28
2.1.2 Parameterization ....................................................................................................................28
2.1.2.1 Overview ................................................................................................................................28
2.1.2.2 Axis configuration...................................................................................................................29
2.1.2.3 Specific settings .....................................................................................................................31
2.1.3 Programming..........................................................................................................................33
2.1.4 Constraints .............................................................................................................................34
2.1.5 Example .................................................................................................................................35
2.2 TRACYL cylinder surface transformation (option)..................................................................38
2.2.1 Function .................................................................................................................................38
2.2.2 Parameterization ....................................................................................................................43
2.2.2.1 Overview ................................................................................................................................43
2.2.2.2 Axis configuration...................................................................................................................45
2.2.2.3 Specific settings .....................................................................................................................47
2.2.3 Programming..........................................................................................................................52
2.2.3.1 Activate cylinder surface transformation (TRACYL)...............................................................52
2.2.3.2 Activate cylinder surface transformation (TRACYL): Further information ..............................53
2.2.4 Boundary conditions...............................................................................................................55
2.2.5 Examples ...............................................................................................................................58
2.2.5.1 Machining grooves on a cylinder surface with X-Y-Z-C kinematics .......................................58
2.2.5.2 Machining grooves on a cylinder surface with X-Y-Z-A-C kinematics....................................63
2.3 Oblique angle transformation (inclined axis) TRAANG (option).............................................66
2.3.1 Function .................................................................................................................................66
2.3.2 Parameterization ....................................................................................................................68
2.3.2.1 Overview ................................................................................................................................68
2.3.2.2 Axis configuration...................................................................................................................69
2.3.2.3 Specific settings .....................................................................................................................71
2.3.3 Programming..........................................................................................................................72
2.3.3.1 Activating an oblique angle transformation with programmable angle (TRAANG) ................72
2.3.3.2 Activate oblique angle transformation with fixed angle (TRAANG)........................................73
Transformations
Function Manual, 06/2019, A5E47435470B AA 9

2.3.3.3 Oblique plunge-cutting on grinding machines (G5, G7) .........................................................74
2.3.4 Boundary conditions...............................................................................................................75
2.3.5 Example .................................................................................................................................78
2.4 Chained transformations ........................................................................................................81
2.4.1 Function .................................................................................................................................81
2.4.1.1 Introduction ............................................................................................................................81
2.4.1.2 System variables....................................................................................................................83
2.4.2 Programming..........................................................................................................................86
2.4.3 Examples ...............................................................................................................................87
2.4.3.1 Application example of chained transformations....................................................................87
2.4.3.2 Determining the axis positions in the transformation chain....................................................91
2.5 Persistent transformation .......................................................................................................93
2.6 Cartesian PTP travel ..............................................................................................................97
2.6.1 Function .................................................................................................................................97
2.6.2 Commissioning.....................................................................................................................100
2.6.2.1 Response after POWER ON................................................................................................100
2.6.2.2 Response after reset/part program end ...............................................................................100
2.6.2.3 Consideration of the SW limits during PTP travel ................................................................100
2.6.2.4 Displaying STAT and TU......................................................................................................101
2.6.3 Programming........................................................................................................................102
2.6.3.1 Activating/deactivating Cartesian PTP travel (PTP, PTPG0, PTPWOC, CP) ......................102
2.6.3.2 Activating/deactivating Cartesian PTP travel (PTP, PTPG0, PTPWOC, CP) ......................103
2.6.3.3 Specify the position of the joints (STAT) ..............................................................................104
2.6.3.4 Specify the sign of the axis angle (TU) ................................................................................108
2.6.3.5 Example 1: PTP travel of a 6-axis robot with ROBX transformation ....................................111
2.6.3.6 Example 2: PTP travel for generic 5-axis transformation.....................................................112
2.6.3.7 Example 3: PTPG0 and TRANSMIT ....................................................................................112
2.6.4 Supplementary conditions....................................................................................................114
2.7 Cartesian manual traversing (option) ...................................................................................115
2.8 Activating transformation machine data via part program/softkey .......................................126
2.8.1 Function ...............................................................................................................................126
2.8.2 Constraints ...........................................................................................................................126
2.8.3 Control response to power ON, mode change, RESET, block search, REPOS ..................128
2.8.4 List of machine data affected ...............................................................................................129
2.8.5 Example ...............................................................................................................................131
2.9 Data lists ..............................................................................................................................132
2.9.1 Machine data........................................................................................................................132
2.9.1.1 TRANSMIT...........................................................................................................................132
2.9.1.2 TRACYL ...............................................................................................................................133
2.9.1.3 TRAANG ..............................................................................................................................135
2.9.1.4 Chained transformations ......................................................................................................136
2.9.1.5 Non transformation-specific machine data...........................................................................136
3 F2: Multi-axis transformations ..................................................................................................................137
3.1 Brief description ...................................................................................................................137
3.1.1 General specifications..........................................................................................................137
3.1.2 5-axis Transformation ..........................................................................................................137
3.1.3 3-axis and 4-axis transformation ..........................................................................................139
3.1.4 Orientation transformation with a swiveling linear axis. .......................................................140
Table of contents
Transformations
10 Function Manual, 06/2019, A5E47435470B AA

3.1.5 Universal milling head ..........................................................................................................142
3.1.6 Orientation axes ...................................................................................................................143
3.1.7 Cartesian manual travel .......................................................................................................143
3.1.8 Cartesian PTP travel ............................................................................................................144
3.1.9 Generic 5-axis transformation ..............................................................................................144
3.1.10 Online tool length offset .......................................................................................................144
3.1.11 Activation via parts/program/softkey ....................................................................................144
3.1.12 Orientation compression ......................................................................................................145
3.2 5-axis transformation............................................................................................................145
3.2.1 Kinematic transformation .....................................................................................................145
3.2.2 Machine types for 5-axis transformation ..............................................................................146
3.2.3 Configuration of a machine for 5-axis transformation ..........................................................147
3.2.4 Tool orientation ....................................................................................................................153
3.2.5 Singular positions and handling ...........................................................................................157
3.3 3-axis and 4-axis transformations ........................................................................................160
3.4 Transformation with swiveled linear axis..............................................................................161
3.5 Cardan milling head .............................................................................................................167
3.5.1 Fundamentals of cardan milling head ..................................................................................167
3.5.2 Parameterization ..................................................................................................................169
3.5.3 Traverse of the cardan milling head in JOG mode...............................................................170
3.6 Programming of the 3- to 5-axis transformation...................................................................170
3.7 Generic 5-axis transformation and variants .........................................................................172
3.7.1 Functionality .........................................................................................................................172
3.7.2 Description of machine kinematics.......................................................................................173
3.7.3 Generic orientation transformation variants .........................................................................174
3.7.4 Parameterization of orientable toolholder data ....................................................................176
3.7.5 Extension of the generic transformation to 6 axes ...............................................................179
3.7.6 Extension of the generic transformation to 7 axes ...............................................................182
3.7.7 Cartesian manual travel with generic transformation ...........................................................187
3.8 Restrictions for kinematics and interpolation........................................................................188
3.8.1 Restrictions for kinematics and interpolation........................................................................188
3.8.2 Singularities of orientation....................................................................................................189
3.9 Orientation............................................................................................................................191
3.9.1 Basic orientation...................................................................................................................191
3.9.2 Orientation movements with axis limits ................................................................................193
3.9.3 Orientation compression ......................................................................................................194
3.9.4 Smoothing of the orientation characteristic ..........................................................................198
3.9.4.1 Function ...............................................................................................................................198
3.9.4.2 Commissioning.....................................................................................................................198
3.9.4.3 Activating/deactivating the orientation characteristic (ORISON, ORISOF) ..........................199
3.9.5 Path-relative orientation (ORIPATH, ORIPATHS, ORIROTC).............................................200
3.9.6 Programming of orientation polynominals............................................................................206
3.9.7 System variable for tool orientation......................................................................................209
3.10 Orientation axes ...................................................................................................................212
3.10.1 Orientation axes ...................................................................................................................212
3.10.2 JOG mode............................................................................................................................213
3.10.3 Programming for orientation transformation.........................................................................214
3.10.4 Programmable offset for orientation axes ............................................................................216
Table of contents
Transformations
Function Manual, 06/2019, A5E47435470B AA 11

3.10.5 Orientation transformation and orientable tool holders ........................................................217
3.10.6 Modulo display of orientation axes.......................................................................................218
3.11 Orientation vectors ...............................................................................................................219
3.11.1 Polynomial interpolation of orientation vectors.....................................................................219
3.11.2 Rotations of orientation vector .............................................................................................223
3.11.3 Extended interpolation of orientation axes ...........................................................................227
3.12 Online tool length offset .......................................................................................................231
3.13 Examples .............................................................................................................................235
3.13.1 Example of a 5-axis transformation......................................................................................235
3.13.2 Example of a 3-axis and 4-axis transformation ....................................................................238
3.13.2.1 Example of a 3-axis transformation......................................................................................238
3.13.2.2 Example of a 4-axis transformation......................................................................................238
3.13.3 Example of a universal milling head.....................................................................................238
3.13.4 Example for orientation axes................................................................................................240
3.13.5 Examples for orientation vectors..........................................................................................242
3.13.5.1 Example for polynomial interpretation of orientation vectors ...............................................242
3.13.5.2 Example of rotations of orientation vector............................................................................243
3.13.6 Examples for generic axis transformations ..........................................................................243
3.13.6.1 Example of generic 5-axis transformation............................................................................243
3.13.6.2 Example of a generic 6-axis transformation.........................................................................245
3.13.6.3 Example of a generic 7-axis transformation.........................................................................246
3.13.6.4 Example for the modification of rotary axis motion ..............................................................247
3.14 Data lists ..............................................................................................................................247
3.14.1 Machine data........................................................................................................................247
3.14.1.1 General machine data..........................................................................................................247
3.14.1.2 Channelspecific machine data .............................................................................................248
3.14.1.3 Channelspecific machine data .............................................................................................251
3.14.2 Setting data ..........................................................................................................................254
3.14.2.1 General setting data.............................................................................................................254
3.14.2.2 Channelspecific setting data ................................................................................................254
4 K12 transformation definitions with kinematic chains ...............................................................................255
4.1 Function description .............................................................................................................255
4.1.1 Characteristics .....................................................................................................................255
4.1.2 Definition of kinematic transformations ................................................................................256
4.1.3 Dynamic orientation transformation TRAORI_DYN .............................................................258
4.1.4 Face end transformation TRANSMIT...................................................................................262
4.1.5 Cylinder surface transformation TRACYL ............................................................................265
4.1.6 Oblique angle transformation (inclined axis) TRAANG_K....................................................269
4.1.7 Static orientation transformation TRAORI_STAT.................................................................270
4.1.8 Concatenating transformations (TRACON_K) .....................................................................270
4.1.9 Effective transformations upon reset....................................................................................271
4.1.10 Persistent transformations ...................................................................................................271
4.1.11 Simulation/simultaneous recording with kinematic chains ...................................................272
4.1.12 Migration of kinematic transformations ................................................................................272
4.1.13 Frames for kinematic transformations..................................................................................273
4.1.14 Tool lengths..........................................................................................................................274
4.2 Commissioning.....................................................................................................................274
4.2.1 General ................................................................................................................................274
4.2.1.1 Overview ..............................................................................................................................274
Table of contents
Transformations
12 Function Manual, 06/2019, A5E47435470B AA

4.2.1.2 Structure of the system variables.........................................................................................274
4.2.2 Machine data........................................................................................................................276
4.2.2.1 Maximum number of transformations with kinematic chains................................................276
4.2.2.2 Name of the reset transformation.........................................................................................276
4.2.2.3 Activation limit of the real-time dynamic monitoring (linear axes) ........................................276
4.2.2.4 Activation limit of real-time dynamic monitoring (rotary axes)..............................................276
4.2.2.5 Correction value for offset vectors for CORRTRAFO ..........................................................276
4.2.2.6 Angular deviation for rotation vectors for CORRTRAFO......................................................276
4.2.3 Use of system variables for kinematic transformations........................................................277
4.2.4 System variables for general transformation types ..............................................................278
4.2.4.1 Overview ..............................................................................................................................278
4.2.4.2 $NT_NAME ..........................................................................................................................279
4.2.4.3 $NT_TRAFO_INDEX............................................................................................................280
4.2.4.4 $NT_TRAFO_TYPE .............................................................................................................281
4.2.4.5 $NT_T_CHAIN_FIRST_ELEM..............................................................................................282
4.2.4.6 $NT_P_CHAIN_FIRST_ELEM .............................................................................................284
4.2.4.7 $NT_T_CHAIN_LAST_ELEM ...............................................................................................285
4.2.4.8 $NT_P_CHAIN_LAST_ELEM...............................................................................................286
4.2.4.9 $NT_T_REF_ELEM..............................................................................................................287
4.2.4.10 $NT_GEO_AX_NAME..........................................................................................................288
4.2.4.11 $NT_ROT_AX_NAME ..........................................................................................................289
4.2.4.12 $NT_ROT_AX_OFFSET ......................................................................................................291
4.2.4.13 $NT_CLOSE_CHAIN_P .......................................................................................................292
4.2.4.14 $NT_CLOSE_CHAIN_T .......................................................................................................293
4.2.4.15 $NT_ROT_OFFSET_FROM_FRAME ..................................................................................294
4.2.4.16 $NT_TRAFO_INCLUDES_TOOL.........................................................................................295
4.2.4.17 $NT_AUX_POS....................................................................................................................296
4.2.4.18 $NT_IDENT..........................................................................................................................297
4.2.4.19 $NT_CNTRL.........................................................................................................................298
4.2.4.20 $NT_ROT_AX_CNT .............................................................................................................301
4.2.4.21 $NT_BASE_TOOL_COMP...................................................................................................302
4.2.5 Additive system variable for orientation transformation .......................................................303
4.2.5.1 Overview ..............................................................................................................................303
4.2.5.2 $NT_BASE_ORIENT............................................................................................................303
4.2.5.3 $NT_BASE_ORIENT_NORMAL ..........................................................................................304
4.2.5.4 $NT_ROT_AX_POS .............................................................................................................305
4.2.5.5 $NT_POLE_LIMIT ................................................................................................................306
4.2.5.6 $NT_POLE_LIMIT ................................................................................................................308
4.2.5.7 $NT_POLE_TOL ..................................................................................................................310
4.2.5.8 $NT_IGNORE_TOOL_ORIENT ...........................................................................................311
4.2.5.9 $NT_CORR_ELEM_T ..........................................................................................................312
4.2.5.10 $NT_CORR_ELEM_P ..........................................................................................................313
4.2.6 Additive system variable for face transformation (TRANSMIT)............................................314
4.2.6.1 Overview ..............................................................................................................................314
4.2.6.2 $NT_POLE_SIDE_FIX .........................................................................................................315
4.2.7 Additive system variables for transformation chains (TRACON_K) .....................................316
4.2.7.1 $NT_TRACON_CHAIN ........................................................................................................316
4.3 Programming........................................................................................................................317
4.3.1 Activating a transformation (TRAFOON)..............................................................................317
4.3.2 Modifying the orientation transformation after the machine measurement
(CORRTRAFO) ....................................................................................................................318
Table of contents
Transformations
Function Manual, 06/2019, A5E47435470B AA 13

4.4 Examples .............................................................................................................................325
4.4.1 Settings for TRAORI_DYN ...................................................................................................325
4.4.2 Part program for TRAORI_DYN ...........................................................................................328
4.4.3 Part program for TRANSMIT................................................................................................332
4.4.4 Part program for TRACYL....................................................................................................335
4.4.5 Part program for TRAANG ...................................................................................................338
A Appendix...................................................................................................................................................341
A.1 List of abbreviations .............................................................................................................341
Index.........................................................................................................................................................351
Table of contents
Transformations
14 Function Manual, 06/2019, A5E47435470B AA

Fundamental safety instructions 1
1.1 General safety instructions
WARNING
Danger to life if the safety instructions and residual risks are not observed
If the safety instructions and residual risks in the associated hardware documentation are not
observed, accidents involving severe injuries or death can occur.
● Observe the safety instructions given in the hardware documentation.
● Consider the residual risks for the risk evaluation.
WARNING
Malfunctions of the machine as a result of incorrect or changed parameter settings
As a result of incorrect or changed parameterization, machines can malfunction, which in turn
can lead to injuries or death.
● Protect the parameterization against unauthorized access.
● Handle possible malfunctions by taking suitable measures, e.g. emergency stop or
emergency off.
1.2 Warranty and liability for application examples
Application examples are not binding and do not claim to be complete regarding configuration,
equipment or any eventuality which may arise. Application examples do not represent specific
customer solutions, but are only intended to provide support for typical tasks.
As the user you yourself are responsible for ensuring that the products described are operated
correctly. Application examples do not relieve you of your responsibility for safe handling when
using, installing, operating and maintaining the equipment.
Transformations
Function Manual, 06/2019, A5E47435470B AA 15

1.3 Industrial security
Note
Industrial security
Siemens provides products and solutions with industrial security functions that support the
secure operation of plants, systems, machines and networks.
In order to protect plants, systems, machines and networks against cyber threats, it is
necessary to implement – and continuously maintain – a holistic, state-of-the-art industrial
security concept. Products and solutions from Siemens constitute one element of such a
concept.
Customers are responsible for preventing unauthorized access to their plants, systems,
machines and networks. Such systems, machines and components should only be connected
to an enterprise network or the Internet if and to the extent such a connection is necessary and
only when appropriate security measures (e.g. using firewalls and/or network segmentation)
are in place.
For additional information on industrial security measures that can be implemented, please
visit:
Industrial security (https://www.siemens.com/industrialsecurity)
Siemens’ products and solutions undergo continuous development to make them more secure.
Siemens strongly recommends that product updates are applied as soon as they become
available, and that only the latest product versions are used. Use of product versions that are
no longer supported, and failure to apply the latest updates may increase customer’s exposure
to cyber threats.
To stay informed about product updates, subscribe to the Siemens Industrial Security RSS
Feed at:
Industrial security (https://www.siemens.com/industrialsecurity)
Further information is provided on the Internet:
Industrial Security Configuration Manual (https://support.industry.siemens.com/cs/ww/en/
view/108862708)
Fundamental safety instructions
1.3 Industrial security
Transformations
16 Function Manual, 06/2019, A5E47435470B AA

WARNING
Unsafe operating states resulting from software manipulation
Software manipulations, e.g. viruses, Trojans, or worms, can cause unsafe operating states
in your system that may lead to death, serious injury, and property damage.
● Keep the software up to date.
● Incorporate the automation and drive components into a holistic, state-of-the-art industrial
security concept for the installation or machine.
● Make sure that you include all installed products into the holistic industrial security concept.
● Protect files stored on exchangeable storage media from malicious software by with
suitable protection measures, e.g. virus scanners.
● On completion of commissioning, check all security-related settings.
● Protect the drive against unauthorized changes by activating the "Know-how protection"
converter function.
Fundamental safety instructions
1.3 Industrial security
Transformations
Function Manual, 06/2019, A5E47435470B AA 17

Fundamental safety instructions
1.3 Industrial security
Transformations
18 Function Manual, 06/2019, A5E47435470B AA

M1: Kinematics transformation 2
2.1 TRANSMIT face end transformation (option)
2.1.1 Function
2.1.1.1 Introduction
Note
The "TRANSMIT and peripheral surface transformation" option that is under license is required
for the function "End face transformation (TRANSMIT)."
The TRANSMIT transformation permits end face machining (drill holes, contours) on turning
machines.
A Cartesian coordinate system can be used to program these machining operations.
The controller transforms the programmed traversing movements of the Cartesian coordinate
system to the traversing movements of the real machine axes.
Standard case:
● Rotary axis
● Infeed axis, perpendicular to rotary axis
● Longitudinal axis, parallel to rotary axis
● The linear axes are perpendicular to one another.
Transformations
Function Manual, 06/2019, A5E47435470B AA 19

<;==0;0$60&0
X, Y, Z Geometry axes
CM Machine axis: Rotary axis
XM Machine axis: Linear axis, perpendicular to rotary axis
ZM Machine axis: Linear axis, parallel to rotary axis
ASM Machine axis: Main spindle
Other options:
● A tool center offset relative to the turning center is permitted.
● The tool center point path can pass through the turning center point of the rotary axis.
● The rotary axis does not need to be a modulo axis.
Note
For active transformation, the names of the involved machine, channel and geometry axes are
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)
2.1.1.2 Machining options
The TRANSMIT transformation has a pole at the zero point of the TRANSMIT plane. The pole
is at the intersection of the radial linear axis and the rotary axis. In the vicinity of the pole, small
positional changes in the geometry axes generally result in large changes in position in the
machine rotary axis. The only exceptions are linear motions into or through the pole.
A tool center point path through the pole does not cause the parts program to be aborted. There
are no restrictions with respect to programmable traversing commands or active tool radius
compensations. Nevertheless, workpiece processing operations close to the pole are not
M1: Kinematics transformation
2.1 TRANSMIT face end transformation (option)
Transformations
20 Function Manual, 06/2019, A5E47435470B AA