Siemens SINUMERIK 840D sl Parts list manual

Preface
3-Axis to 5-Axis
Transformation (F2) 1
Gantry Axes (G1) 2
Cycle Times (G3) 3
Contour Tunnel Monitoring
(K6)
Axis Couplings and ESR
(M3) 5
Setpoint Exchange (S9) 6
Tangential Control (T3) 7
Installation and Activation of
Loadable Compile Cycles
(TE01)
8
Simulation of Compile
Cycles (TE02) 9
Clearance Control (TE1) 10
Analog Axis (TE2) 11
Speed/Torque Coupling,
Master-Slave (TE3) 12
Handling Transformation
Package (TE4) 13
MCS Coupling (TE6) 14
Retrace Support (TE7) 15
Cycle-Independent Path-
Synchronous Signal Output
(TE8)
16
Axis pair for collision
protection (TE9) 17
Preprocessing (V2) 18
3D Tool Radius
Compensation (W5) 19
Path length evaluation (W6) 20
NC/PLC interface signals
(Z3) 21
Appendix (A) 22
SINUMERIK
SINUMERIK
840D sl/840Di sl/840D/840Di/810D
Special functions
Function Manual
11/2006
6FC5397-2BP10-2BA0
Valid for
Control
SINUMERIK 840D sl/840DE sl
SINUMERIK 840Di sl/840DiE sl
SINUMERIK 840D powerline/840DE powerline
SINUMERIK 840Di powerline/840DiE powerline
SINUMERIK 810D powerline/810DE powerline
Software Version
NCU system software for 840D sl/840DE sl 1.4
NCU system software for 840D sl/DiE sl 1.0
NCU system software for 840D/840DE 7.4
NCU system software for 840Di/840DiE 3.3
NCU system software for 810D/810DE 7.4
4

Safety Guidelines
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
with a safety alert symbol, indicates that minor personal injury can result if proper precautions are not taken.
Caution
without a safety alert symbol, indicates that property damage can result if proper precautions are not taken.
Notice
indicates that an unintended result or situation can occur if the corresponding information is not taken into
account.
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 device/system may only be set up and used in conjunction with this documentation. Commissioning and
operation of a device/system may only be performed by qualified personnel. Within the context of the safety notes
in this documentation qualified persons are defined as persons who are authorized to commission, ground and
label devices, systems and circuits in accordance with established safety practices and standards.
Prescribed Usage
Note the following:
Warning
This device may only be used for the applications described in the catalog or the technical description and only in
connection with devices or components from other manufacturers which have been approved or recommended by
Siemens. Correct, reliable operation of the product requires proper transport, storage, positioning and assembly
as well as careful operation and maintenance.
Trademarks
All names identified by ® are registered trademarks of the 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
Automation and Drives
Postfach 48 48
90437 NÜRNBERG
GERMANY
Order No.: 6FC5397-2BP10-2BA0
Ⓟ 11/2006
Copyright © Siemens AG 2006.
Technical data subject to change

Special functions
Function Manual, 11/2006, 6FC5397-2BP10-2BA0 3
Preface
SINUMERIK® Documentation
The SINUMERIK documentation is organized in 3 parts:
•General documentation
•User documentation
•Manufacturer/service documentation
A monthly updated publications overview with respective available languages can be found
in the Internet under:
http://www.siemens.com/motioncontrol
Select the menu items "Support" → "Technical Documentation" → "Overview of
Publications".
The Internet version of DOConCD (DOConWEB) is available under:
http://www.automation.siemens.com/doconweb
Information about training courses and FAQs (Frequently Asked Questions) can be found
in internet under::
http://www.siemens.com/motioncontrol under menu option "Support"
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.

Preface
Special functions
4 Function Manual, 11/2006, 6FC5397-2BP10-2BA0
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.
Structure of the functions manual
Structure of this Function Manual:
•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.
•The description of each function is a separate book.
•Appendix with list of abbreviations and terms.
An overview of the functions described in this Function Manual is on the third page. The
functions are listed in alphanumeric order of their abbreviations (e.g. A2, A3, etc.). The
Descriptions of Functions are also contained in this order in the Function Manual.
A Description of Functions contains the following chapters:
•Brief description
•Detailed description
•Constraints
•Examples
•Data lists
Note
Detailed descriptions regarding data and alarms are provided for:
•machine and setting data:
Electronic only on DOConCD or DOConWEB
•NC/PLC interface signals:
/FB1/ NC/PLC interface signals (Z1)
/FB2/ NC/PLC interface signals (Z2)
/FB3/ NC/PLC interface signals (Z3)
•alarms:
/DA/ Diagnostics Manual

Preface
Special functions
Function Manual, 11/2006, 6FC5397-2BP10-2BA0 5
Technical information
The following notation is used in this documentation:
Signal/Data Notation Example
NC/PLC interface
signals
... NC/PLC interface signal:
Signal data (signal name)
When the new gear step is engaged, the following NC/PLC
interface signals are set by the PLC program:
DB31, ... DBX16.0-16.2 (actual gear stage A to C)
DB31, ... DBX16.3 (gear is changed)
Machine data ... machine data:
<Type><Number> <Complete
Designator> (<Meaning>)
Master spindle is the spindle stored in the machine data:
MD20090 $MC_SPIND_DEF_MASTER_SPIND (Position of
deletion of the master spindle in the channel).
Setting Data ... Setting data:
<Type><Number> <Complete
Designator> (<Meaning>)
The logical master spindle is contained in the setting data:
SD42800 $SC_SPIND_ASSIGN_TAB[0] (Spindle number
converter).
Data types
The following elementary data types are used in the control system:
Type Meaning Value range
INT Signed integers -2147483646 ... [phone]
REAL Figures with decimal point acc. to IEEE ±(2,2*10-308 … 1,8*10+308)
BOOL Boolean values: TRUE/FALSE TRUE ≠ 0; FALSE = 0
CHAR 1 ASCII character corresponding to the code 0 … 255
STRING Character string, number of characters in [...], maximum of
200 characters
Sequence of values with 0 ... 255
AXIS Axis identifier Axis identifier for all channel axes
FRAME Geometrical parameters for translation, rotation, scaling,
and mirroring
Arrays can only be formed from similar elementary data types. Up to two-dimensional arrays are possible.
Quantity framework
Explanations concerning the NC/PLC interface are based on the absolute maximum number
of sequential components:
•Mode groups (DB11)
•Channels (DB21, etc.)
•Axes/spindles (DB31, etc.)

Preface
Special functions
6 Function Manual, 11/2006, 6FC5397-2BP10-2BA0
Technical Support
If you have any technical questions, please contact our hotline:
Europe / Africa Asia / Australia America
Phone [phone] [phone] [phone]
Fax [phone] [phone] [phone]
Internet http://www.siemens.com/automation/support-request
E-Mail mailto:[e-mail]
Note
Country specific telephone numbers for technical support are provided under the following
Internet address:
http://www.siemens.com/automation/service&support
Questions about the manual
If you have any queries (suggestions, corrections) in relation to this documentation, please
send a fax or e-mail to the following address:
Fax: [phone] / 98 - 63315
Email: mailto:[email protected]m
A fax form is available at the end of this document.
SINUMERIK Internet address
http://www.siemens.com/sinumerik
EC declaration of conformity
The EC Declaration of Conformity for the EMC Directive can be found/obtained
•in the internet:
http://www.ad.siemens.de/csinfo
under product/order no. 15257461
•with the relevant branch office of the A&D MC group of Siemens AG.

Brief description 1
Detailed description 2
Boundary conditions 3
Examples 4
Data lists 5
SINUMERIK
SINUMERIK
840D sl/840Di sl/840D/840Di/810D
Special functions: 3-Axis to 5-Axis
Transformation (F2)
Function Manual
11/2006
6FC5397-2BP10-2BA0
Valid for
Control
SINUMERIK 840D sl/840DE sl
SINUMERIK 840Di sl/840DiE sl
SINUMERIK 840D powerline/840DE powerline
SINUMERIK 840Di powerline/840DiE powerline
SINUMERIK 810D powerline/810DE powerline
Software Version
NCU system software for 840D sl/840DE sl 1.3
NCU system software for 840D sl/DiE sl 1.0
NCU system software for 840D/840DE 7.4
NCU system software for 840Di/840DiE 3.3
NCU system software for 810D/810DE 7.4

Safety Guidelines
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
with a safety alert symbol, indicates that minor personal injury can result if proper precautions are not taken.
Caution
without a safety alert symbol, indicates that property damage can result if proper precautions are not taken.
Notice
indicates that an unintended result or situation can occur if the corresponding information is not taken into
account.
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 device/system may only be set up and used in conjunction with this documentation. Commissioning and
operation of a device/system may only be performed by qualified personnel. Within the context of the safety notes
in this documentation qualified persons are defined as persons who are authorized to commission, ground and
label devices, systems and circuits in accordance with established safety practices and standards.
Prescribed Usage
Note the following:
Warning
This device may only be used for the applications described in the catalog or the technical description and only in
connection with devices or components from other manufacturers which have been approved or recommended by
Siemens. Correct, reliable operation of the product requires proper transport, storage, positioning and assembly
as well as careful operation and maintenance.
Trademarks
All names identified by ® are registered trademarks of the 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
Automation and Drives
Postfach 48 48
90437 NÜRNBERG
GERMANY
Order No.: 6FC5397-2BP10-2BA0
Ⓟ 11/2006
Copyright © Siemens AG 2006.
Technical data subject to change

Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0 3
Table of contents
1 Brief description......................................................................................................................................... 5
1.1 5-axis Transformation ....................................................................................................................5
1.2 3-axis and 4-axis transformation....................................................................................................7
1.3 Orientation transformation with a swivelling linear axis. ................................................................8
1.4 Universal milling head..................................................................................................................10
1.5 Orientation axes...........................................................................................................................11
1.6 Cartesian manual travel...............................................................................................................12
1.7 Cartesian PTP travel....................................................................................................................12
1.8 Generic 5-axis transformation......................................................................................................12
1.9 Online tool length offset ...............................................................................................................13
1.10 Activation via parts/program/softkey............................................................................................13
1.11 Orientation compression ..............................................................................................................13
2 Detailed description ................................................................................................................................. 15
2.1 5-axis transformation ...................................................................................................................15
2.1.1 Kinematic transformation .............................................................................................................15
2.1.2 Machine types for 5-axis transformation......................................................................................16
2.1.3 Configuration of a machine for 5-axis transformation..................................................................17
2.1.4 Tool orientation ............................................................................................................................22
2.1.5 Singular positions and handling...................................................................................................27
2.2 3-axis and 4-axis transformations................................................................................................29
2.3 Transformation with swivelled linear axis ....................................................................................31
2.4 Universal milling head..................................................................................................................37
2.4.1 Fundamentals of universal milling head ......................................................................................37
2.4.2 Parameterization..........................................................................................................................39
2.4.3 Traverse of universal milling head in JOG mode.........................................................................41
2.5 Activation and application of 3-axis to 5-axis transformation.......................................................41
2.6 Generic 5-axis transformation and variants .................................................................................43
2.6.1 Functionality.................................................................................................................................43
2.6.2 Description of machine kinematics ..............................................................................................44
2.6.3 Generic orientation transformation variants.................................................................................45
2.6.4 Parameterization of orientable tool holder data...........................................................................47
2.6.5 Extension of the generic transformation to 6 axes.......................................................................52
2.6.6 Cartesian manual travel with generic transformation...................................................................56
2.7 Restrictions for kinematics and interpolation ...............................................................................58
2.7.1 Singularities of orientation............................................................................................................59
2.8 Orientation....................................................................................................................................61
2.8.1 Basic orientation ..........................................................................................................................61

Table of contents
Special functions: 3-Axis to 5-Axis Transformation (F2)
4 Function Manual, 11/2006, 6FC5397-2BP10-2BA0
2.8.2 Orientation movements with axis limits....................................................................................... 63
2.8.3 Orientation compression ............................................................................................................. 64
2.8.4 Orientation relative to the path.................................................................................................... 68
2.8.5 Programming of orientation polynominals................................................................................... 72
2.8.6 Tool orientation with 3-/4-/5-axis transformations....................................................................... 75
2.8.7 Orientation vectors with 6-axis transformation............................................................................ 75
2.9 Orientation axes .......................................................................................................................... 76
2.9.1 JOG mode................................................................................................................................... 77
2.9.2 Programming for orientation transformation ............................................................................... 79
2.9.3 Programmable offset for orientation axes ................................................................................... 81
2.9.4 Orientation transformation and orientable tool holders............................................................... 82
2.10 Orientation vectors ...................................................................................................................... 83
2.10.1 Polynomial interpolation of orientation vectors ........................................................................... 83
2.10.2 Rotations of orientation vector .................................................................................................... 87
2.10.3 Extended interpolation of orientation axes.................................................................................. 91
2.11 Online tool length offset .............................................................................................................. 96
3 Boundary conditions .............................................................................................................................. 101
4 Examples............................................................................................................................................... 103
4.1 Example of a 5-axis transformation .......................................................................................... 103
4.2 Example of a 3-axis and 4-axis transformation......................................................................... 106
4.2.1 Example of a 3-axis transformation .......................................................................................... 106
4.2.2 Example of a 4-axis transformation .......................................................................................... 106
4.3 Example of a universal milling head ......................................................................................... 107
4.4 Example for orientation axes .................................................................................................... 108
4.5 Examples for orientation vectors...............................................................................................110
4.5.1 Example for polynomial interpretation of orientation vectors.................................................... 110
4.5.2 Example of rotations of orientation vector................................................................................. 111
4.6 Example of generic 5-axis transformation................................................................................. 112
4.6.1 Example of a generic 6-axis transformation.............................................................................. 113
4.6.2 Example for the modification of rotary axis motion ................................................................... 114
4.7 Example: Compressor for Orientation....................................................................................... 115
5 Data lists................................................................................................................................................ 117
5.1 Machine data............................................................................................................................. 117
5.1.1 General machine data............................................................................................................... 117
5.1.2 Channelspecific machine data .................................................................................................. 117
5.2 Setting data ............................................................................................................................... 121
5.2.1 General setting data.................................................................................................................. 121
5.2.2 Channelspecific setting data ..................................................................................................... 121
5.3 Signals....................................................................................................................................... 122
5.3.1 Signals from channel................................................................................................................. 122
Index............................................................................................................................................ Index-123

Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0 5
Brief description 1
1.1 5-axis Transformation
Function
The "5-Axis Transformation" machining package is designed for machining sculptured
surfaces that have two rotary axes in addition to the three linear axes X, Y, and Z. This
package thus allows an axially symmetrical tool (milling cutter, laser beam) to be oriented in
any desired relation to the workpiece in the machining space.
The path and path velocity are programmed in the same way as for 3-axis tools. The tool
orientation is programmed additionally in the traversing blocks.
The real-time transformation performs the calculation of the resulting motion of all 5 axes.
The generated machining programs are therefore not machine specific. Kinematic-specific
post-processors are not used for the 5-axis machining operation.
A selection of various transformations is available for adapting the control to various machine
kinematics. Part program commands can be issued in operation to switch over between two
transformations parameterized during start-up.
This package therefore covers the three possible basic machine configurations which differ
in terms of tool and workpiece orientation:
•Orientation of tool with two-axis swivel head (machine type 1)
•Orientation of workpiece with two-axis rotary table (machine type 2)
•Orientation of workpiece and tool with single-axis rotary table and swivel head (machine
type 3)
The calculation also includes tool length compensation.
Since the orientation in relation to the workpiece surface is stored in a separate FRAME, a
tool retraction operation with vertical orientation to the workpiece is also possible.

Brief description
1.1 5-axis Transformation
Special functions: 3-Axis to 5-Axis Transformation (F2)
6 Function Manual, 11/2006, 6FC5397-2BP10-2BA0
Tool orientation
Tool orientation can be specified in two ways:
•Machine-related orientation
The machine-related orientation is dependent on the machine kinematics.
•Workpiece-related orientation
The workpiece-related orientation is not dependent on the machine kinematics.
It is programmed by means of:
– Euler angles
– RPY angles
– Vector components
The direction of the tool is described in the workpiece coordinate system with the part
orientation. It is possible to program a specific component of the tool in its orientation to
the workpiece. In most cases, this will be a longitudinal axis of the tool with the tool tip
(Tool Center Point, TCP), which is also referred to as TCP-programming.
System variables for orientation
Part programs and synchronized actions can access the system variables that provide
information on the following, in read only mode:
•End orientation of block (run-in value)
•Setpoint orientation
•Actual value orientation
•Switching between setpoint and actual value orientation
•Status for variables of actual value orientation
Special cases of 5-Axis transformation
The following transformations are to be entered as special cases of the general 5-Axis
transformation:
•3-axis and 4-axis transformation
There are 2 or 3 linear axes and a rotary axis.
•Swivelling linear axis
One of the rotary axis rotates the 3rd linear axis.
•Universal milling head
The two rotary axes are positioned at a projectable angle in relation to one another.
Knowledge of the general 5-axis transformation is a prerequisite for all of these
transformations.

Brief description
1.2 3-axis and 4-axis transformation
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0 7
1.2 3-axis and 4-axis transformation
Function
The 3- and 4-Axis transformations are distinguished by the following characteristics:
Transformation Features
3-axis Transformation 2 linear axes
1 rotary axis
4-Axis transformation 3 linear axes
1 rotary axis
Both types of transformation belong to the orientation transformations. Orientation of the tool
must be programmed explicitly. The orientation of the tool is executed in a plane
perpendicular to the rotary axis.
[
]
;
<
=%
%
[
]
<
=
;
Figure 1-1 Schematic diagram of 3-axis transformation

Brief description
1.3 Orientation transformation with a swivelling linear axis.
Special functions: 3-Axis to 5-Axis Transformation (F2)
8 Function Manual, 11/2006, 6FC5397-2BP10-2BA0
;
%
<
=
[
]
\
Figure 1-2 Schematic diagram of a 4-axis transformation with moveable workpiece
1.3 Orientation transformation with a swivelling linear axis.
Function
The orientation transformation with swivelling linear axis is similar to the 5-axis
transformation of Machine Type 3, though the 3rd linear axis is not always perpendicular to
the plane defined by the other two linear axes.
Features of kinematics
•Kinematics with three linear axes and two orthogonal rotary axes.
•Rotary axes are parallel to two of the three linear axes.
•The first rotary axis is moved by two Cartesian linear axes. It rotates the third linear axis,
which moves the tool. The tool is aligned parallel to the third linear axis.
•The second rotary axis rotates the workpiece.
•The kinematics comprise a moved workpiece and a moved tool.
The following figure shows the interrelations for one of the possible axis sequences, for
which transformation is possible.

Brief description
1.3 Orientation transformation with a swivelling linear axis.
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0 9
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Figure 1-3 Schematic diagram of a machine with swivelling linear axis

Brief description
1.4 Universal milling head
Special functions: 3-Axis to 5-Axis Transformation (F2)
10 Function Manual, 11/2006, 6FC5397-2BP10-2BA0
1.4 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)
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Figure 1-4 Schematic diagram of a machine tool with universal milling head

Brief description
1.5 Orientation axes
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0 11
1.5 Orientation axes
Model for describing change in orientation
There is no such simple correlation between axis motion and change in orientation in case of
robots, hexapodes or nutator kinamatics, as in the case of conventional 5-axes machines.
For this reason, the change in orientation is defined by a model that is created independently
of the actual machine. This model defines three virtual orientation axes which can be
visualized as rotations about the coordinate axes of a rectangular coordinate system.
For the purpose of 6-axis transformation, a third degree of freedom for orientation, describing
the rotation of the tool about itself, has been introduced.
Real-time transformation
The Cartesian coordinates are converted from basic to machine coordinate system by
means of a real-time transformation process.
These Cartesian coordinates comprise:
•Geometry axes
Geometry axes describe the machining point.
•Orientation axes
Orientation axes describe the orientation of a tool in space.
Tool orientation
You can define the orientation of the tool in space as follows using linear interpolation, large
circle interpolation and by means of orientation vectors:
•Direct programming of rotary axis positions A, B, C
5-axis transformation by programming:
– The Euler- or RPY angle in degrees through A2,B2,C2
or
– The direction vector over A3,B3,C3
•Programming using lead angle LEAD and tilt angle TILT

Brief description
1.6 Cartesian manual travel
Special functions: 3-Axis to 5-Axis Transformation (F2)
12 Function Manual, 11/2006, 6FC5397-2BP10-2BA0
1.6 Cartesian manual travel
Function
The "Cartesian Manual Operation" function can be used to set one of the following
coordinate systems as reference system for JOG motion to be selected separately for
translation and orientation as:
•Basic coordinate system (BCS)
•Workpiece coordinate system (WCS)
•Tool coordinate System (TCS)
1.7 Cartesian PTP travel
Function
The "Cartesian PTP Travel" [PTP = Point-to-point movement (Point to Point)] function can be
used to program a position in a cartesian coordinate system (workpiece coordinate system).
The machine however moves in its machine coordinates.
The function can be used, for example, to traverse a singularity. Cartesian positions,
supplied by a CAD system, need not been converted to machine axis values.
It must also be noted that axes take longer to traverse in the Cartesian coordinate system
with active transformation and programmed feedrate than when they are traversed directly.
1.8 Generic 5-axis transformation
Function
The generic 5-axis transformation function differs from earlier 5-axis transformation versions
insofar as it is no longer restricted with respect to the directions of rotary axes.
The basic orientation of the tool is no longer predefined in machine data as was the case in
earlier versions of orientation transformations, but can now be programmed freely.

Brief description
1.9 Online tool length offset
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0 13
1.9 Online tool length offset
Function
The system variable $AA_TOFF[ ] can be used to overlay the effective tool lengths in 3-D in
runtime. For an active orientation transformation (TRAORI) or for an active tool carrier that
can be oriented, these offsets are effective in the particular tool axes.
If the tool orientation changes, the tool length offsets that apply are rotated so that the pivot
point for the orientation movement always refers to the corrected tool tip.
1.10 Activation via parts/program/softkey
The machine data relevant to the kinematic transformation has thus far been activated
mostly through POWER ON.
Transformations MDs can also be activated via the parts program/softkey and it is not
necessary to boot the control system.
References:
/FB2/ Function Manual of Extended Functions; Kinematic Transformations (M1),
Chapter: Cartesian PTP travel
1.11 Orientation compression
During the execution of NC programs containing blocks with relatively short traverse paths,
the interpolation time can lead to a reduction in tool path velocity and a corresponding
increase in machining time.
COMPON, COMPCURV, COMPCAD
You can run NC programs with short traverse paths without reducing the tool path velocity by
activating "compressors" COMPON, COMPCURV or COMPCAD. The compressor also
smoothes the programmed movements and consequently tool path velocity.
Programming of direction vectors
Programming of tool orientation that is independent of the kinematics, can be achieved
through programming of direction vectors. NC programs with such direction vectors can be
executed with compressors COMPON, COMPCURV and COMPCAD.

Brief description
1.11 Orientation compression
Special functions: 3-Axis to 5-Axis Transformation (F2)
14 Function Manual, 11/2006, 6FC5397-2BP10-2BA0