840Dsl Transformations FCT Man 0619 en-US

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

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Preface
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Transformations
Function Manual, 06/2019, A5E47435470B AA 3
Preface
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.
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this product does not process / store any personal data, only technical functional data (e.g. time
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on the same storage medium (e.g. hard drive) and thus establishes a link to a person or
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area.
Transformations
4 Function Manual, 06/2019, A5E47435470B AA
Preface
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 ... NC/PLC interface signal: When the new gear stage is engaged, the following NC/PLC
signals <signal address> (<signal name>) 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: Master spindle is the spindle stored in the machine data:
<Type><Number> <Complete Des‐ MD20090 $MC_SPIND_DEF_MASTER_SPIND (position of de‐
ignator> (<Meaning>) letion of the master spindle in the channel)
Setting data ... setting data: The logical master spindle is contained in the setting data:
<Type><Number> <Complete Des‐ SD42800 $SC_SPIND_ASSIGN_TAB[0] (spindle number con‐
ignator> (<Meaning>) verter)
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Preface
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
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Preface

ELSE
... <> AXPOS
ENDIF
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Preface
Transformations
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
2.2.2.1 Overview ................................................................................................................................43
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
2.3.2.1 Overview ................................................................................................................................68
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
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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
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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
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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
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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
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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
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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
Fundamental safety instructions
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)
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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.
Transformations
Transformations
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
M1: Kinematics transformation
&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
Transformations
recommended since these may require sharp feedrate reductions to prevent overloading of the
rotary axis.
New features
A pole is said to exist if the line described by the tool center point intersects the turning center
of the rotary axis.
The following cases are covered:
● Under what conditions and by what methods the pole can be traversed
● The response in pole vicinity
● The response with respect to working area limitations
● Monitoring of rotary axis rotations over 360°.
Pole crossing
The pole can be traversed by two methods:
● Traversal along linear axis
● Traversal into pole with rotation of rotary axis in pole
Traversal along linear axis

=
<
① Travel into the pole

② Travel out of the pole
Figure 2-1 Traversal of x axis through pole
Transformations
Rotation in pole
= =
< <

; ;

Figure 2-2 Traversal of x axis into pole (a), rotation (b), exit from pole (c)
Selection of method
The method must be selected according to the capabilities of the machine and the
requirements of the part to be machined. The method is selected by machine data:
MD24911 $MC_TRANSMIT_POLE_SIDE_FIX_1
The first MD applies to the first TRANSMIT transformation in the channel and the second MD
correspondingly to the second TRANSMIT transformation.
VALUE Meaning
0 Pole crossing
The tool center point path (linear axis) must cross the pole on a continuous
path.
1 Rotation around the pole.
The tool center point path must be restricted to a positive traversing range
of the linear axis (in front of turning center).
The tool center point path must be restricted to a negative traversing range
of the linear axis. (behind turning center).
Special features relating to pole traversal

The method of pole traversal along the linear axis may be applied in the AUTOMATIC and JOG
modes.
Transformations
Behavior:
Table 2-1 Traversal of pole along the linear axis
Mode Status Response

AUTOMATIC All axes involved in the transforma‐ High-speed pole traversal
tion are moved synchronously.
TRANSMIT active.
Not all of the axes participating in Traversal of pole at creep speed
the transformation are moved syn‐
chronously (e.g. positioning axis).
TRANSMIT not active
An applied DRF (external zero off‐ Abortion of processing, alarm
set) does not interfere with the op‐
eration. Servo errors may occur
close to the pole during application
of a DRF.
JOG - Traversal of pole at creep speed
Special features relating to rotation in pole

Precondition: This method is only effective in the AUTOMATIC mode.
MD24911 $MC_TRANSMIT_POLE_SIDE_FIX_1 = 1 or 2
Value: 1 Linear axis remains within positive traversing range
Value: 2 Linear axis remains within negative traversing range
In the case of a contour that would require the pole to be traversed along the tool center point
path, the following three steps are taken to prevent the linear axis from traversing in ranges
beyond the turning center:
Step Action
1 Linear axis traverses into pole
2 Rotary axis turns through 180°, the other axes involved in the transformation
remain stationary.
3 Execution of remaining block. The linear axis now exits from the pole again.
In JOG mode, the motion stops in the pole. In this mode, the axis may exit from the pole only
along the path tangent on which it approached the pole. All other motion instructions would
require a step change in the rotary axis position or a large machine motion in the cases of
minimum motion instructions. They are rejected with alarm 21619.
Traversal close to pole

If a tool center point traverses past the pole, the control system automatically reduces the
feedrate and path acceleration rate such that the settings of the machine axes (MD32000
$MA_MAX_AX_VELO[AX*] and MD32300 $MA_ MAX_AX_ACCEL[AX*]) are not exceeded.
The closer the path is to the pole, the greater the reduction in the feedrate.
Transformations
Tool center point path with corner in pole

A tool center point path which includes a corner in the pole will not only cause a step change
in axis velocities, but also a step change in the rotary axis position. These cannot be reduced
by decelerating.
= =
< <
; ;

Figure 2-3 Pole traversal
Requirements:
AUTOMATIC mode,
MD24911 $MC_TRANSMIT_POLE_SIDE_FIX_1 = 0
or
MD24951 $MC_TRANSMIT_POLE_SIDE_FIX_2 = 0
The control system inserts a traversing block at the step change point. This block generates the
smallest possible rotation to allow processing of the contour to continue.
Transformations
Corner without pole traversal

= =
< <

; ;

Figure 2-4 Processing on one pole side
Requirements:
AUTOMATIC mode,
or
The control system inserts a traversing block at the step change point. This block generates the
necessary rotation so that processing of the contour can continue on the same side of the pole.
Transformation selection in pole

If the processing operation must continue from a position on the tool center path which
corresponds to the pole of the activated transformation, then an exit from the pole is specified
for the new transformation.
Actual
MD24911 $MC_TRANSMIT_POLE_SIDE_FIX_1= 0
or
is set (pole transition), then a rotation as small as possible is generated at the beginning of the
block originating in the pole. Depending on this rotation, the axis then traverses either in front
of or behind the turning center.
For
Transformations
or
processing is done before the rotational center point (linear axis in positive traversing range),
for
or
behind the rotational center point (linear axis in negative traversing range).
Transformation selection outside pole

The controller traverses the axes participating in the transformation without evaluating the
machine data MD24911 $MC_TRANSMIT_POLE_SIDE_FIX_<t>. <t> = 1 marks the first
TRANSMIT transformation and <t> = 2 marks the second TRANSMIT transformation in the
channel.
2.1.1.3 Working area limitations
Starting point
When TRANSMIT is active, the pole is replaced by a working area limitation if the tool center
point cannot be positioned at the turning center of the rotary axis involved in the transformation.
This is the case when the axis perpendicular to the rotary axis (allowing for tool offset) is not
positioned on the same radial plane as the rotary axis or if both axes are positioned mutually at
an oblique angle. The distance between the two axes defines a cylindrical space in the BCS in
which the tool cannot be positioned.
The illegal range cannot be protected by the software limit switch monitoring function since the
traversing range of the machine axes is not affected.
Transformations
<
=
<

;
① Unmachinable cylinder - working area limitation

② Axis distance
Figure 2-5 Working area limitation based on offset linear axis
Traverse into working area limitation

Any motion that leads into the working area limitation is rejected with alarm 21619. Any
corresponding parts program block is not processed. The control system stops processing at
the end of the preceding block.
If the motion cannot be foreseen promptly enough (JOG modes, positioning axes), then the
control stops at the edge of the working area limitation.
Response close to working area limitation

If a tool center point traverses past the prohibited range, the control system automatically
reduces the feedrate and path acceleration rate such that the settings in the machine axes
(MD32000 $MA_MAX_AX_VELO[AX*] and MD32300 $MA_ MAX_AX_ACCEL[AX*]) are not
exceeded. The closer the path is to the working area limitation, the greater the reduction in the
feedrate may be.
2.1.1.4 Overlaid motions with TRANSMIT

The control system cannot predict overlaid motions. However, these do not interfere with the
function provided that they are very small (e.g. fine tool offset) in relation to the current distance
from the pole (or from working area limitation). With respect to axes that are relevant for the
transformation, the transformation monitors the overlaid motion and signals any critical quantity
by alarm 21618. This alarm indicates that the block-related velocity planning function no longer
adequately corresponds to the actual conditions on the machine. When the alarm is output, the
conventional, non-optimized online velocity monitor is therefore activated. The preprocessing
routine is re-synchronized with the main run by a REORG generated internally in the control.
Alarm 21618 should be avoided whenever possible since it indicates a state that can lead to
axis overload and thus abortion of parts program processing.
Transformations
2.1.1.5 Monitoring of rotary axis rotations over 360º

The positions of the rotary axis are ambiguous with respect to the number of rotations. The
control breaks down blocks containing several rotations around the pole into sub-blocks.
This subdivision must be noted with respect to parallel actions (e.g. output of auxiliary
functions, block-synchronized positioning axis motions) since the programmed block end is no
longer relevant for synchronization, but the end of the first sub-block.
Further information
Function Manual Basic Functions; Auxiliary function outputs to PLC
Function Manual Synchronized actions
In single block operation the control system machines individual blocks explicitly. Otherwise the
sub-blocks are traversed with Look Ahead just like a single block. A limitation of the rotary axis
setting range is monitored by the software limit switch monitoring function.
2.1.2 Parameterization
2.1.2.1 Overview
Machine data: Transformation data in general

The following machine data is used to define transformation data sets in a channel:
● MD2xxxx $MC_TRAFO_TYPE_<n> (definition of the <n>th transformation in the channel)
● MD2xxxx $MC_TRAFO_AXES_IN_<n> (axis assignment for the <n>th transformation in the
channel)
● MD2xxxx $MC_TRAFO_GEOAX_ASSIGN_TAB_<n> (assignment of geometry axes to
channel axes for transformation <n>)
● MD2xxxx $MC_TRAFO_INCLUDES_TOOL_<n> (tool handling with active nth
transformation)
where <n> = 1, 2, 3, ... max. number of transformation data sets
For TRANSMIT (type 256 or 257), no more than two transformation data sets may be
parameterized in a channel:
● MD2xxxx $MC_TRAFO_TYPE_<x> = <TRANSMIT type>
● MD2xxxx $MC_TRAFO_TYPE_<y> = <TRANSMIT type>
Machine data: TRANSMIT transformation

A TRANSMIT transformation is parameterized using the following machine data:
● MD2xxxx $MC_TRANSMIT_ROT_AX_OFFSET_<n> (offset of the rotary axis)
● MD2xxxx $MC_TRANSMIT_ROT_AX_FRAME_<n> (rotary axis offset)
● MD2xxxx $MC_TRANSMIT_ROT_SIGN_IS_PLUS_<n> (sign of the rotary axis)
Transformations
● MD2xxxx $MC_TRANSMIT_BASE_TOOL_<n> (vector of the base tool)

● MD2xxxx $MC_TRANSMIT_POLE_SIDE_FIX_<n> (limitation of the working area in front of/
behind the pole)
where <n> = 1, 2 (TRANSMIT data set number)
2.1.2.2 Axis configuration

The following shows an axis configuration that is typical of TRANSMIT.
0'
0&B$;&21)B*(2$;B$66,*1B7$%
&KDQQHO
0' &KDQQHO
0&B$;&21)B*(2$;B1$0(B7$%

&KDQQHO
&KDQQHO
VWJHRPHWU\D[LV>@ ;
QGJHRPHWU\D[LV>@ < 0'
UGJHRPHWU\D[LV>@ = 0&B75$)2B*(2$;B$66,*1B7$%
&KDQQHO
&KDQQHO

0' 0'
0&B$;&21)B&+$1$;B1$0(B7$% 0&B$;&21)B0$&+$;B86('
&KDQQHO &KDQQHO
&KDQQHO &KDQQHO
VWFKDQQHOD[LV>@ ;&
QGFKDQQHOD[LV>@ =&
UGFKDQQHOD[LV>@ &&
WKFKDQQHOD[LV>@ $6&

0' 0'
0$B63,1'B$66,*1B72B0$&+$; 0$B$;&21)B0$&+$;B1$0(B7$%
VWPDFKLQHD[LV>$;@ &0
QGPDFKLQHD[LV>$;@ ;0
UGPDFKLQHD[LV>$;@ =0
WKPDFKLQHD[LV>$;@ $60
① Effective if TRANSMIT is active.
Machine axis name

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 0 ] = "CM"
● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 1 ] = "XM"
Transformations
● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 2 ] = "ZM"

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 3 ] = "ASM"
Geometry axis names

● MD20060 $MC_AXCONF_GEOAX_NAME_TAB[ 0 ] = "X" (name of the 1st geometry axis)
● MD20060 $MC_AXCONF_GEOAX_NAME_TAB[ 1 ] = "Y" (name of the 2nd geometry axis)
● MD20060 $MC_AXCONF_GEOAX_NAME_TAB[ 2 ] = "Z" (name of the 3rd geometry axis)
Channel axis names

● MD20080 $MC_AXCONF_CHANAX_NAME_TAB[ 0 ] = "XC"
● MD20080 $MC_AXCONF_CHANAX_NAME_TAB[ 1 ] = "ZC"
● MD20080 $MC_AXCONF_CHANAX_NAME_TAB[ 2 ] = "CC"
● MD20080 $MC_AXCONF_CHANAX_NAME_TAB[ 3 ] = "ASC"
Assignment of geometry axes to channel axes

TRANSMIT not active
● MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[ 0 ] = 1 (1st geometry axis → 1st channel
axis XC)
● MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[ 1 ] = 0 ( - )
● MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[ 2 ] = 2 (3rd geometry axis → 2nd
channel axis ZC)
TRANSMIT active
● MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1[ 0 ] = 1 (1st transformation geometry
axis → 1st channel axis XC)
● MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1[ 1 ] = 3 (2nd transformation geometry
axis → 3rd channel axis CC)
● MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1[ 2 ] = 2 (3rd transformation geometry
axis → 2nd channel axis ZC)
Assignment of channel axes to machine axes

● MD20070 $MC_AXCONF_MACHAX_USED[ 0 ] = 2 (1st channel axis → 2nd machine axis
XM)
● MD20070 $MC_AXCONF_MACHAX_USED[ 1 ] = 3 (2nd channel axis → 3rd machine axis
ZM)
● MD20070 $MC_AXCONF_MACHAX_USED[ 2 ] = 1 (3rd channel axis → 1st machine axis
CM)
● MD20070 $MC_AXCONF_MACHAX_USED[ 3 ] = 4 (4th channel axis → 4th machine axis
ASM)
Identification of spindles
● MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[ 0 ] = 1 (spindle)
● MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[ 1 ] = 0 (axis)
Transformations

2.1.2.3 Specific settings
One rotary and one linear axis: TRAFO_TYPE = 256

The transformation type 256 must be set for TRANSMIT with a rotary and a linear axis:
$MC_TRAFO_TYPE_<n> = 256
where <n> = 1, 2, ... max. number of transformations
Input axes of the transformation: $MC_TRAFO_AXES_IN_<n>

Those channel axes are specified in the machine data on which the axes of the transformation
Cartesian coordinate system are to be mapped:
$MC_TRAFO_AXES_IN_<n>[ <index> ] = <channel axis number>
<Index> Meaning
0 Linear axis, perpendicular to rotary axis
1 Rotary axis
2 Linear axis, parallel to rotary axis
The channel axis numbers must relate to the axis sequence defined with
$MC_TRAFO_GEOAX_ASSIGN_TAB_<n>.
One rotary and two linear axes: TRAFO_TYPE = 257

The transformation type 257 must be set for TRANSMIT with a rotary and two linear axes:
$MC_TRAFO_TYPE_<n> = 257
The second linear axis must be oriented perpendicular to the plane clamped by the rotary and
the linear axis. The second linear axis for TRANSMIT is used exclusively for tool correction.
Input axes of the transformation: $MC_TRAFO_AXES_IN_<n>

Those channel axes are specified in the machine data on which the axes of the transformation
Cartesian coordinate system are to be mapped:
$MC_TRAFO_AXES_IN_<n>[ <index> ] = <channel axis number>
<Index> Meaning
0 Linear axis, perpendicular to rotary axis
1 Rotary axis
2 Linear axis, parallel to rotary axis
3 Linear axis perpendicular to the axes from index 0 and 1
Transformations
The channel axis numbers must relate to the axis sequence defined with
$MC_TRAFO_GEOAX_ASSIGN_TAB_<n>.
Rotary axis offset: TRANSMIT_ROT_AX_OFFSET

If the rotary axis zero point does not match the rotary axis zero position when the TRANSMIT
transformation is active, the angular difference must be entered as an offset in the machine
data:
$MC_TRANSMIT_ROT_AX_OFFSET_<t> = <angular difference>
where <t> = 1, 2
Direction of rotation: TRANSMIT_ROT_SIGN_IS_PLUS

TRANSMIT must be informed of the rotary axis direction of rotation with the following machine
data:
● The direction of rotation of the rotary axis is positive with regard to TRANSMIT if the rotary
axis rotates counterclockwise (in relation to the X/Y plane looking at the Z axis), when
traversing in the positive direction.
● The rotary axis direction of rotation with regard to TRANSMIT is negative if it rotates
clockwise when traversing in the positive direction
&0 &0
< ; < ;
= =

① Positive direction of rotation

② Negative direction of rotation
Figure 2-6 Rotary axis direction of rotation
$MC_TRANSMIT_ROT_SIGN_IS_PLUS_<t> = <direction of rotation>

where <t> = 1, 2
<Direction of rotation> Meaning

0 Negative rotary axis direction of rotation ⇒ internal sign reversal
1 Positive rotary axis direction of rotation ⇒ no internal sign reversal
Transformations
Position of the tool zero: TRANSMIT_BASE_TOOL

The position of the tool zero is specified in relation to the origin of the effective Cartesian
coordinate system for TRANSMIT:
● MD24920 $MC_TRANSMIT_BASE_TOOL_<t>[ 0 ] = <Offset in X>
● MD24920 $MC_TRANSMIT_BASE_TOOL_<t>[ 1 ] = <Offset in Y>
● MD24920 $MC_TRANSMIT_BASE_TOOL_<t>[ 2 ] = <Offset in Z>
with <t> = 1, 2
Switchable geometry axes

When the GEOAX() geometry axes are switched, the parameterized M function is output to the
NC/PLC interface:
● MD22534 $MC_TRAFO_CHANGE_M_CODE = <M function>
Note
The values 0 to 6, 17 and 30 are not output.
Further information:
Function Manual Basic Functions; Coordinate systems, axis types, axis configurations,
workpiece-related actual-value system, external zero offset
2.1.3 Programming
The front face transformation (TRANSMIT) is activated in the part program or synchronized
action using the TRANSMIT statement.
Syntax
TRANSMIT
TRANSMIT(<n>)
Meaning
TRANSMIT: Activate TRANSMIT with the first TRANSMIT data set

TRANSMIT(n): Activate TRANSMIT with the nth TRANSMIT data set
Note
A TRANSMIT transformation active in the channel is activated with:
● Deactivate transformation: TRAFOOF
● Activation of another transformation: E.g. TRACYL, TRAANG, TRAORI
Transformations
2.1.4 Constraints
Look Ahead
All functions requiring Look Ahead (traversal through pole, Look Ahead) work satisfactorily only
if the relevant axis motions can be calculated exactly in advance. With TRANSMIT, this applies
to the rotary axis and the linear axis perpendicular to it. If one of these axes is the positioning
axis, then the Look Ahead function is deactivated by alarm 10912 and the conventional online
velocity check activated instead.
Selection of method
The user is responsible for making the optimum choice of "Traversal through pole" or "Rotation
around pole".
Several pole traversals

A block can traverse the pole any number of times (e.g. programming of a helix with several
turns). The part program block is subdivided into a corresponding number of sub-blocks.
Analogously, blocks which rotate several times around the pole are likewise divided into sub-
blocks.
Rotary axis as modulo axis

The rotary axis can be a modulo rotary axis. However, this is not a mandatory requirement as
was the case in SW 2 and 3. The relevant restrictions applying in SW 2 and 3 have been
eliminated.
Rotary axis as spindle

If the rotary axis without transformation is used as a spindle, it must be switched to position-
controlled mode with SPOS before the transformation is selected.
TRANSMIT with supplementary linear axis

With active TRANSMIT, the channel name of posBCS[ax[3]] must have another name in the part
program, like the geometry axes. If posBCS[ax[3]] is written only outside the TRANSMIT
transformation, this restriction does not apply if the axis has been assigned to a geometry axis.
With active TRANSMIT, no contour information is processed via ax[3].
REPOS
It is possible to reposition on the sub-blocks produced as a result of the extended TRANSMIT
function in SW 4. In this case, the control uses the first sub-block that is closest to the
repositioning point in the BCS.
Transformations
Block search
In the case of block search with calculation, the block end point (of the last sub-block) is
approached in cases where intermediate blocks have been generated as the result of the
extended functionality in SW 4.
2.1.5 Example
The example refers to the axis configuration shown in the following figure.
&0
< ;
;0
$60
==0
CM 1st machine axis: Rotary axis
XM 2nd machine axis: Linear axis, perpendicular to rotary axis
ZM 3rd machine axis: Linear axis, parallel to rotary axis
ASM 4th machine axis: Main spindle
Parameter assignment
Machine axis name

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 0 ] = "CM" (1st machine axis: spindle/
rotary axis)
● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 1 ] = "XM" (2nd machine axis: linear
axis)
● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 2 ] = "ZM" (3rd machine axis: linear axis)
● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 3 ] = "ASM" (4th machine axis: spindle)
Transformations
Geometry axis names

Channel axis names

● MD20080 $MC_AXCONF_CHANAX_NAME_TAB[ 0 ] = "XC" (linear axis)
● MD20080 $MC_AXCONF_CHANAX_NAME_TAB[ 1 ] = "ZC" (linear axis)
● MD20080 $MC_AXCONF_CHANAX_NAME_TAB[ 2 ] = "CC" (spindle/rotary axis)
● MD20080 $MC_AXCONF_CHANAX_NAME_TAB[ 3 ] = "ASC" (spindle)

TRANSMIT not active:
● MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[ 0 ] = 1 (1st geo. axis → 1st channel axis
XC)
● MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[ 2 ] = 2 (3rd geo. axis → 2nd channel axis
ZC)
TRANSMIT active:
● MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1[ 0 ] = 1 (1st TrafoGeoAxis → 1st
channel axis XC)
● MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1[ 1 ] = 3 (2nd TrafoGeoAcxis → 3rd
channel axis CC)
● MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1[ 2 ] = 2 (3rd TrafoGeoAxis → 2nd
channel axis ZC)

XM)
ZM)
● MD20070 $MC_AXCONF_MACHAX_USED[ 2 ] = 1 (3rd channel axis → 1st machine axis
CM)
ASM)
● MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[ 0 ] = 1 (1st machine axis: spindle)
● MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[ 1 ] = 0 (2nd machine axis: axis)
● MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[ 2 ] = 0 (3rd machine axis: axis)
● MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[ 3 ] = 2 (4th machine axis: spindle)
Transformations
Transformation type
● MD24100 $MC_TRAFO_TYPE_1 = 256 (transformation TRANSMIT with a rotary or linear
axis)
Offset relative to the zero position of the rotary axis

● MD24900 $MC_TRANSMIT_ROT_AX_OFFSET_1 = 0
Sign of rotary axis

● MD24910 $MC_TRANSMIT_ROT_SIGN_IS_PLUS_1 = 0
Basic offset of the tool zero relative to the geometry axes while TRANSMIT is active
● MD24920 $MC_TRANSMIT_BASE_TOOL_1 [ 0 ] = 0.0 (offset relative to 1st TrafoGeoAxis)
● MD24920 $MC_TRANSMIT_BASE_TOOL_1 [ 1 ] = 0.0 (offset relative to 2nd TrafoGeoAxis)
● MD24920 $MC_TRANSMIT_BASE_TOOL_1 [ 2 ] = 0.0 (offset relative to 3rd TrafoGeoAxis)
TRANSMIT input axes

● MD24110 $MC_TRAFO_AXES_IN_1[ 0 ] = 1 (1st channel axis XC, perpendicular to the
rotary axis)
● MD24110 $MC_TRAFO_AXES_IN_1[ 1 ] = 3 (3rd channel axis CC, rotary axis)
● MD24110 $MC_TRAFO_AXES_IN_1[ 2 ] = 2 (2nd channel axis ZC, parallel to the rotary
axis)
Modulo conversion for rotary axis

● MD30300 $MA_ROT_IS_MODULO[ 0 ] = 0 (1st machine axis: spindle/rotary axis)
● MD30300 $MA_ROT_IS_MODULO[ 1 ] = 0 (2nd machine axis: linear axis)
● MD30300 $MA_ROT_IS_MODULO[ 2 ] = 0 (3rd machine axis: linear axis)
● MD30300 $MA_ROT_IS_MODULO[ 3 ] = 1 (4th machine axis: spindle)
Programming example
N10 T1 D1 G54 G17 G90 F5000 G94 ; tool selection
; 1st Settable work offset
; XY plane
; absolute dimensions
; linear feedrate F in mm/min
N20 G0 X20 Z10 SPOS=45 ; approach the start position
; spindle positioning 45
N30 TRANSMIT ; TRANSMIT with first
; data record from MD24100 ON
N40 ROT RPL=–45 ; frame: Rotation in XY plane by Z
N50 ATRANS X–2 Y10 ; frame: Additive offset
N60 G1 X10 Y–10 G41 OFFN=1 ; square roughing; 1 mm tolerance (OFFN)
N70 X–10
Transformations
2.2 TRACYL cylinder surface transformation (option)

N80 Y10
N90 X10
N100 Y–10
N110 G0 Z20 G40 OFFN=0 ; tool radius compensation OFF,
; 0 mm tolerance
N120 T2 D1 X15 Y–15 ; tool change
N130 Z10 G41 ; tool radius compensation left of contour
N140 G1 X10 Y–10 ; square part finishing
N150 X–10
N160 Y10
N170 X10
N180 Y–10
N190 Z20 G40
N200 TRANS ; deselect frame
N210 TRAFOOF ; TRANSMIT OFF
N220 G0 X20 Z10 SPOS=45 ; approach the start position
N230 M30
2.2.1 Function
Note
The licensed "TRANSMIT and peripheral surface transformation" option is required for the
function "Cylinder surface transformation (TRACYL)."
The TRACYL transformation permits the machining of cylinder jacket curves (grooves) on
turning machines.
The path of the grooves is programmed with reference to the unwrapped, level surface of the
cylinder.
The controller transforms the programmed traversing movements of the cylinder coordinate
Transformations
&
The machine kinematics must correspond to the cylinder coordinate system:

● One, two or three linear axes and one rotary axis
● The linear axes must be oriented perpendicular to each other
● The rotary axis must be oriented parallel to one of the linear axes
Note
For active transformation, the names of the involved machine, channel and geometry axes are
different:
Transformation Types
The TRACYL transformation exists in three variants:
● without groove side offset (transformation type 512):
● with groove side offset (transformation type 513):
● programmable with or without groove side offset (transformation type 514)
TRACYL without groove wall offset

The cylinder surface transformation without groove side offset is used in machine kinematics
with one or two linear axes (axis configuration 1).
One linear axis

For a machine kinematic with only one linear axis (X), only grooves parallel to the periphery of
the cylinder can be generated (transverse grooves).
Transformations
Two linear axes

For a machine kinematic with two linear axes (X and Z), grooves of any form can be generated
on the cylinder.
$60 ==0
<&0
;0
XM Infeed axis perpendicular to the turning center

ZM Linear axis parallel to the turning center
Y / CM Transformatory Y axis / rotary axis
ASM Main spindle
Figure 2-7 Machine kinematics with two linear axes
Groove edges
For a cylinder surface transformation without groove wall correction, the edges of the groove
longitudinal to the rotary axis (longitudinal grooves) are only parallel if the groove width
corresponds to the tool diameter. For groove widths greater than the tool diameter, the groove
edges are at an angle to each other (see ①).
The groove edges of grooves that extend parallel to the circumference (transverse grooves)
are not parallel to each other (see ②). Only the start and the end of the groove edges are not
parallel.
Transformations
= =
< <
; ;

① Longitudinal groove
② Transverse groove
Figure 2-8 Groove edges with TRACYL without groove side offset
Transformations
TRACYL with groove wall offset

The cylinder surface transformation with groove wall offset is used for machine kinematics with
three linear axes (X, Y, and Z) (axis configuration 2).
==0
$60
<0
<&0
;0
XM Infeed axis perpendicular to the turning center

YM Supplementary axis perpendicular to the X-Z plane
ZM Linear axis parallel to the turning center
Y / CM Transformatory Y axis / rotary axis
ASM Main spindle
Figure 2-9 Machine kinematics with three linear axes
For a machine kinematic with three linear axes (X, Y and Z), grooves of any form can be
generated on the cylinder.
Groove edges
Because the Y axis is oriented perpendicular to the turning center, almost parallel groove edges
can be generated even for groove widths larger than the tool diameter.
Transformations
Figure 2-10 Parallel limited longitudinal groove with TRACYL with groove side offset
2.2.2.1 Overview

channel)
● MD2xxxx $MC_TRAFO_INCLUDES_TOOL_<n> (tool handling with active <n>th
transformation)
For TRACYL (type 512, 513, or 514), no more than two transformation data sets may be
parameterized in a channel:
● MD2xxxx $MC_TRAFO_TYPE_<x> = <TRACYL type>
● MD2xxxx $MC_TRAFO_TYPE_<y> = <TRACYL type>
Transformations
Machine data: TRACYL transformation

A TRACYL transformation is parameterized in the following machine data:
● MD2xxxx $MC_TRACYL_ROT_AX_OFFSET_<n> (offset of the rotary axis)
● MD2xxxx $MC_TRACYL_ROT_AX_FRAME_<n> (rotary axis offset)
● MD2xxxx $MC_TRACYL_DEFAULT_MODE_<n> (selection of TRACYL mode)
● MD2xxxx $MC_TRACYL_ROT_SIGN_IS_PLUS_<n> (sign of the rotary axis)
● MD2xxxx $MC_TRACYL_BASE_TOOL_<n> (vector of the base tool)
where <n> = 1, 2 (TRACYL data set number)
Transformations

The following shows an axis configuration that is typical of TRACYL.
0'
0&B$;&21)B*(2$;B$66,*1B7$%
&KDQQHO
0' &KDQQHO
0&B$;&21)B*(2$;B1$0(B7$%

&KDQQHO
&KDQQHO
VWJHRPHWU\D[LV>@ ;
&KDQQHO
&KDQQHO

0' 0'
0&B$;&21)B&+$1$;B1$0(B7$% 0&B$;&21)B0$&+$;B86('
&KDQQHO &KDQQHO
&KDQQHO &KDQQHO
VWFKDQQHOD[LV>@ ;&
QGFKDQQHOD[LV>@ <&
UGFKDQQHOD[LV>@ =&
WKFKDQQHOD[LV>@ &&
WKFKDQQHOD[LV>@ $6&
0' 0'
0$B63,1'B$66,*1B72B0$&+$; 0$B$;&21)B0$&+$;B1$0(B7$%
QGPDFKLQHD[LV>$;@ ;0
UGPDFKLQHD[LV>$;@ <0
WKPDFKLQHD[LV>$;@ =0
① Effective if TRACYL is active.
Machine axis name

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 2 ] = "YM"
Transformations
Geometry axis names

Channel axis names

● MD20080 $MC_AXCONF_CHANAX_NAME_TAB[ 1 ] = "YC"

TRACYL not active:
axis XC)
● MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[ 1 ] = 2 (2nd geometry axis → 2nd
channel axis YC)
● MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[ 2 ] = 3 (3rd geometry axis → 3rd channel
axis ZC)
TRACYL active:
axis → 4th channel axis CC)
axis → 3rd channel axis ZC)

XM)
YM)
● MD20070 $MC_AXCONF_MACHAX_USED[ 2 ] = 4 (3rd channel axis → 4th machine axis
ZM)
● MD20070 $MC_AXCONF_MACHAX_USED[ 3 ] = 1 (4th channel axis → 1st machine axis
CM)
ASM)
Transformations
Setting the transformation type

The transformation type is set specifically for the transformation data set in:
$MC_TRAFO_TYPE_<n> = <transformation type>
with <n> = 1, 2, ... max. number of transformations
Axis configuration <Transformation type>

1 512
2 513 or 514
The TRACYL transformation with programmed groove side offset (type 514) can be activated
with or without groove side offset (see "Programming (Page 52)").
Transformation type 514 without groove wall offset

If the machine has another linear axis which is perpendicular to both the rotary axis and the first
linear axis, transformation type 514 can be used to apply tool offsets with the real Y axis. In this
case, it is assumed that the working area of the second linear axis is small and will not be used
to execute the part program.
The previous settings apply for MD10000 $MC_TRAFO_GEOAX_ASSSIGN_TAB_<n>.
Slots with slot side offset

The required inclusion of the tool offset has already been taken into account for the TRACYL
transformation with groove side offset.
Axis image
The following paragraph describes how the transformation axis image is specified.
Transformations
Transformation geometry axes

For the transformation dataset <n>, three (or four) channel axis numbers must be specified for
TRACYL:
● MD24110 $MC_TRAFO_AXES_IN_1[0]=channel axis number of the axis radial to the rotary
axis.
● MD24110 $MC_TRAFO_AXES_IN_1[1]=channel axis number of the rotary axis.
● MD24110 $MC_TRAFO_AXES_IN_1[2]=channel axis number of the axis parallel to the
rotary axis.
● MD24110 $MC_TRAFO_AXES_IN_1[3]=channel axis number of the supplementary axis
parallel to the cylinder surface and perpendicular to the rotary axis (provided axis
configuration 2 is present).
The axis numbers must refer to the channel axis sequences defined by the following machine
data:
MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_<n>
Slots without slot side offset

For transformation type 514 the following indices apply to MD24110
$MC_TRAFO_AXES_IN_<n>[ ].
Meaning of indices in relation to base coordinate system (BCS):
● [0]: Cartesian axis radial to rotary axis (if configured)
● [1]: Axis in generated cylinder surface perpendicular to rotary axis
● [2]: Cartesian axis parallel to rotary axis
● [3]: Linear axis parallel to index 2 in initial position of machine
Meaning of indices in relation to machine coordinate system (MCS):
● [0]: Linear axis radial to rotary axis (if configured)
● [1]: Rotary axis
● [2]: Linear axis, parallel to rotary axis
● [3]: Linear axis, perpendicular to the axes of indices [0] and [1]
Transformations
Rotational position
The rotational position of the axis on the cylinder peripheral surface perpendicular to the rotary
axis must be defined as follows:
<
˟
˞˟>r@
α Rotational position of the rotary axis for C=0

β Position of Y = 0
Figure 2-11 Center of axis rotation in the peripheral cylinder surface
MD24800 TRACYL_ROT_AX_OFFSET_<t>
The rotational position of the peripheral surface in relation to the defined zero position of the
rotary axis is specified with:
MD24800 $MC_TRACYL_ROT_AX_OFFSET_<t> = ...°
During this, <t> is replaced by the number of TRACYL transformations (<t> can be a maximum
of 2) agreed upon in the transformation datasets.
Direction of rotation
The direction of rotation of the rotary axis is specified by machine data as described in the
following paragraph.
Transformations
TRACYL_ROT_SIGN_IS_PLUS_<t>
If the direction of rotation of the rotary axis on the x-y plane is counterclockwise when viewed
against the z axis, then the machine data must be set to TRUE, otherwise to FALSE.
758(

MD24810 $MC_TRACYL_ROT_SIGN_IS_PLUS_<t>=TRUE
In this case, "t" is substituted by the number of TRACYL transformations declared in the
transformation data blocks (t may not be greater than 2).
Switchable geometry axes

The PLC is informed when a geometry axis has been replaced using GEOAX( ) through the
optional output of an M code that can be set in machine data.
● MD22534 $MC_TRAFO_CHANGE_M_CODE
Number of the M code that is output at the VDI interface in the case of transformation
changeover.
Note
If this machine data is set to one of the values 0 to 6, 17, 30, then no M code is output.
Further information
Function Manual Basic Functions; Coordinate systems, axis types, axis configurations,
workpiece-related actual-value system, external zero offset
Position of tool zero

The position of the tool zero point in relation to the origin of the Cartesian coordinate system is
specified by machine data as described in the following paragraph.
Transformations
MD24820 TRACYL_BASE_TOOL_<t>
This machine data is used to inform the control of the tool zero point position in relation to the
origin of the cylinder coordinate system declared for TRACYL. The machine data has three
components for the axes X, Y, Z of the machine coordinate system.
=

<&

① ty
② tx
③ tz
④ Tool zero
Figure 2-12 Position of tool zero in relation to machine zero
Example
MD24820 $MC_TRACYL_BASE_TOOL_<t>[ 0 ] = tx
MD24820 $MC_TRACYL_BASE_TOOL_<t>[ 1 ] = ty
MD24820 $MC_TRACYL_BASE_TOOL_<t>[ 2 ] = tz
with <t> = the number of TRACYL transformations agreed upon in the transformation datasets
Transformations

=
G ˭
<
① Slot (example)
Figure 2-13 Cylinder coordinate system
2.2.3 Programming
2.2.3.1 Activate cylinder surface transformation (TRACYL)

The cylinder surface transformation (TRACYL) is activated in the part program or synchronized
action using the TRACYL statement.
Syntax
TRACYL(<d>)
TRACYL(<d>,<n>)
TRACYL(<d>,<n>,<k>)
Meaning
TRACYL(<d>): Activate TRACYL with the first TRACYL data set and working diameter
<d>
TRACYL (<d>,<n>): Activate TRACYL with the <n>th TRACYL data set and working diameter
<d>
<d>: Reference or working diameter
The value must be greater than 1.
<n>: TRACYL data set number (optional)
Range of values: 1, 2
Transformations
<k>: The parameter <k> is only relevant for transformation type 514
k = 0: without groove side correction
k = 1: with groove side correction
If the parameter is not specified, then the parameterized basic position
applies:
$MC_TRACYL_DEFAULT_MODE_<n>
With <n> = TRACYL data set number
Note
A TRACYL transformation active in the channel is switched-off with:
● Activation of another transformation: E.g. TRAANG, TRANSMIT, TRAORI
Example
...
N40 TRACYL(40.) ; Activate TRACYL with the first TRACYL data set
and working diameter 40 mm.
...
2.2.3.2 Activate cylinder surface transformation (TRACYL): Further information
Further information
Program structure
A part program for milling a groove with TRACYL transformation 513 (TRACYL with groove
side offset) generally comprises the following steps:
1. Select tool.
2. Select TRACYL.
3. Select suitable coordinate offset (frame).
4. Positioning.
5. Program OFFN.
6. Select TRC.
7. Approach block (position TRC and approach groove side).
8. Groove center line contour.
9. Deselect TRC.
10.Retraction block (retract TRC and move away from groove side).
11.Positioning.
Transformations
12.TRAFOOF.
13.Reselect original coordinate shift (frame).
Contour offset (OFFN)

In order to mill grooves using TRACYL transformation 513, the center line of the groove and half
of the groove width via the OFFN address are programmed in the part program.
To avoid damage to the groove side, OFFN acts only when the tool radius compensation is
active.
It is possible to change OFFN within a part program. This allows the groove center line to be
offset from the center:
① OFFN
② Programmed path
Note
OFFN should be at least as large as the tool radius to avoid damage occurring to the opposite
side of the groove wall.
Note
OFFN acts differently with TRACYL than it does without TRACYL. Since, even without
TRACYL, OFFN is included when TRC is active, OFFN should be reset to zero after TRAFOOF.
NOTICE
Effect of OFFN depends on the transformation type
For TRACYL transformation 513 (TRACYL with groove side offset), half the groove width is
programmed for OFFN.
For TRACYL transformation 512 (TRACYL with groove side offset), the value of OFFN acts as
an allowance for the TRC.
Tool radius compensation (TRC)

For TRACYL transformation 513, the TRC is not taken into account relative to the groove side,
but to the programmed center of the groove. In order that the tool travels to the left of the groove
Transformations
side, statement G42 must be programmed instead of G41 or the value of OFFN specified with
a negative sign.
Tool diameter
With TRACYL and a tool whose diameter is less than the groove width, the same groove side
geometry is not generated as with a tool whose diameter is the same as the groove width. To
improve the precision, it is recommended that the tool diameter is selected to be only slightly
less than the groove width.
Axis utilization
Note
The following axes cannot be used as a positioning axis or a reciprocating axis:
● The geometry axis in the peripheral direction of the cylinder peripheral surface (Y axis).
● The additional linear axis for groove side compensation (Z axis).
2.2.4 Boundary conditions
Selection/deselection
● An intermediate motion block is not inserted (phases/radii).
● A series of spline blocks must be concluded.
● Tool radius compensation must be deselected.
● The frame which was active prior to TRACYL is deselected by the control system
(analog G500).
● An active working area limit is deselected for axes affected by the transformation
(analog WALIMOF).
● Continuous path control and rounding are interrupted.
● DRF offsets must have been deleted by the operator.
● The Y axis used for the compensation should be set to zero for selection and active groove
side compensation.
Tool change
Tools can be changed only when the tool radius compensation function is deselected.
Frame
A frame change with G91 (incremental dimension) is not specially treated for active
transformation. The path to be traversed is evaluated in the workpiece coordinate system of the
new frame - regardless of which frame was active in the previous block.
Transformations
A rotary axis offset can, for example, be entered by compensating the inclined position of a
workpiece can be considered using a frame or as offset of the rotary axis.
The following setting is required for the axial complete frame of the rotary axis to act in the
transformation:
$MC_TRACYL_ROT_AX_FRAME_<t> = 1
Note
Changes in the axis assignments are converted every time the transformation is selected or
deselected.
Further information
Function Manual Basic Functions; Coordinate systems, frames
Function restriction for transformation axes

The axes involved on the cylinder surface transformation must not be used for the following
functions:
● Positioning axis
● Oscillating axis
● Preset axis
● Fixed point approach G75
● Reference point approach G74
Manual traversal in JOG

When generated cylinder surface transformation with groove side compensation
($MC_TRAFO_TYPE = 513) is active in JOG mode, it must be noted that the axes are traversed
depending on the preceding status in AUTOMATIC. For active slide side compensation, the
axes so move differently than for deselected compensation. The part program can therefore be
continued (REPOS) after a part program interruption.
Transformations
Interrupt part program

● Mode change from AUTOMATIC to JOG
If a part program processing is interrupted for active transformation and traversed manually
in the JOG operating mode, ensure for continuation of the part program in the AUTOMATIC
operating mode that the transformation is already active in the restart block from the current
position to the interruption location.
WARNING
Risk of collision
No monitoring for collisions takes place.
The operator is responsible for ensuring that the tool can be re-positioned without any
difficulties.
● START after RESET

If a part program processing is interrupted with RESET and restarted with START, ensure
that at part program begin all axes travel with a linear block (G0 or G1) to a defined position,
and the remaining part program is traversed reproducably. A tool which was active
on RESET may no longer be taken into account by the control (settable via machine data).
Transformations
2.2.5 Examples
2.2.5.1 Machining grooves on a cylinder surface with X-Y-Z-C kinematics

The example refers to the turning machine with an additional Y axis drawn in the following
figure.
<0
$60 =0
&0
;0
XM Infeed axis, perpendicular to rotary axis

YM Additional axis
ZM Axis is parallel to rotary axis
CM Rotary axis
ASM Main spindle
Machine axis name

Geometry axis names

Transformations
Channel axis names


TRACYL not active:
axis XC)
channel axis YC)
axis ZC)
TRACYL active:

XM)
YM)
ZM)
● MD20070 $MC_AXCONF_MACHAX_USED[ 3 ] = 1 (4th channel axis → 1st machine axis
CM)
ASM)
Transformations
Transformation type
● MD24100 $MC_TRAFO_TYPE_1 = 513 (TRACYL with groove side offset)

● MD24800 $MC_TRACYL_ROT_AX_OFFSET_1 = 0
Sign of rotary axis

● MD24810 $MC_TRACYL_ROT_SIGN_IS_PLUS_1 = FALSE
Basic offset of the tool zero relative to the geometry axes while TRACYL is active
● MD24820 $MC_TRACYL_BASE_TOOL_1 [ 0 ] = 0.0 (offset relative to 1st transformation
geometry axis)
● MD24820 $MC_TRACYL_BASE_TOOL_1 [ 1 ] = 0.0 (offset relative to 2nd transformation
geometry axis)
● MD24820 $MC_TRACYL_BASE_TOOL_1 [ 2 ] = 0.0 (offset relative to 3rd transformation
geometry axis)
TRACYL input axes

● MD24110 $MC_TRAFO_AXES_IN_1[ 0 ] = 1 (1st channel axis XC, perpendicular to the
rotary axis)
● MD24110 $MC_TRAFO_AXES_IN_1[ 1 ] = 4 (4th channel axis CC, rotary axis)
● MD24110 $MC_TRAFO_AXES_IN_1[ 2 ] = 3 (3rd channel axis ZC, parallel to the rotary axis)
● MD24110 $MC_TRAFO_AXES_IN_1[ 3 ] = 2 (2nd channel axis YC, special axis)
Transformations
Programming
Producing a hook-shaped groove with groove side offset (TRACYL transformation type 513)

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Tool definition

; Tool parameters
$TC_DP1[1,1]=120 ; Tool type: Milling tool
$TC_DP2[1,1] = 0 ; Cutting edge position: For turning tools only

; Geometry: Length compensation
$TC_DP3[1,1]=8. ; Length compensation vector: Calculation acc. to
type
Transformations

$TC_DP4[1,1]=9. ; Length compensation vector: Calculation accord-
ing to plane
$TC_DP5[1,1]=7.

; Geometry: Radius
$TC_DP6[1,1]=6. ; Radius
$TC_DP7[1,1]=0 ; Groove width b for slotting saw, rounding radi-
us for milling tools
$TC_DP8[1,1]=0 ; Projection k: For slotting saw only
$TC_DP9[1,1]=0
$TC_DP10[1,1]=0
$TC_DP11[1,1]=0 ; Angle for tapered milling tools

; Wear: Length and radius compensation
$TC_DP12[1,1] =0 ; Remaining parameters to $TC_DP24=0 (basis di-
mension/adapter)
Groove machining on the cylinder surface

N10 T1 D1 G54 G90 F5000 G94 ; Tool selection, clamping compensation
N20 SPOS=0 ; Switchover of the spindle to rotary axis opera-
tion, positioning at 0 degrees
N30 G0 X25 Z110 ; Approach the start position
N40 TRACYL(40.) ; Activating TRACYL with the first TRACYL data set
and working diameter 40 mm
N50 G19 ; Machining plane Y/Z (cylinder surface)
N60 Y70 ; Positioning over the groove center
N70 G1 X15 ; Infeed tool to groove base
N80 OFFN=10 ; Define 10 mm groove side spacing relative to
groove center line
N90 Z100 G42 ; TRC selection and approach to right groove wall
; G42: TRC right of the progr. contour (≙ groove
center)
N100 Z50 ; Path I: Producing the groove section parallel
with the cylinder axis
N110 Y10 ; Path I: Producing the groove section parallel
with the circumference
N120 Y70 ; Path II: Producing the groove section parallel
with the circumference
N130 Z100 ; Path II: Producing the groove section parallel
with the cylinder axis
Transformations

N140 Z110 G40 ; Travel away from the groove wall and TRC dese-
lection
N150 G0 X25 Y0 ; Return to the initial position
N170 TRAFOOF ; Deactivate transformation
N180 M30 ; End of program
2.2.5.2 Machining grooves on a cylinder surface with X-Y-Z-A-C kinematics

The example refers to the 5-axis milling machine with an A- and a C-axis in the following figure.
=0
<0
630
;0
&0 &
$0
XM 1. axis of the machining plane

YM 2. axis of the machining plane
ZM Infeed axis
AM Rotary axis
CM Rotary axis
SPM Main spindle
Machine axis name

Transformations
● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 3 ] = "SPM"

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 4 ] = "AM"
Geometry axis names

Channel axis names

● MD20080 $MC_AXCONF_CHANAX_NAME_TAB[ 3 ] = "SPC"
● MD20080 $MC_AXCONF_CHANAX_NAME_TAB[ 4 ] = "AC"

TRACYL not active:
axis XC)
channel axis YC)
axis ZC)
TRACYL active:
axis → 2nd channel axis YC)

● MD20070 $MC_AXCONF_MACHAX_USED[ 0 ] = 1 (1st channel axis → 1st machine axis
XM)
● MD20070 $MC_AXCONF_MACHAX_USED[ 1 ] = 2 (2nd channel axis → 2nd machine axis
YM)
● MD20070 $MC_AXCONF_MACHAX_USED[ 2 ] = 3 (3rd channel axis → 3rd machine axis
ZM)
Transformations

SPM)
AM)
CM)
Transformation type
● MD24200 $MC_TRAFO_TYPE_2 = 513 (TRACYL with groove side offset)

● MD24850 $MC_TRACYL_ROT_AX_OFFSET_2 = 0
Sign of rotary axis

● MD24860 $MC_TRACYL_ROT_SIGN_IS_PLUS_2 = FALSE
Basic offset of the tool zero relative to the geometry axes while TRACYL is active
● MD24870 $MC_TRACYL_BASE_TOOL_2 [ 0 ] = 0.0 (offset relative to 1st transformation
geometry axis)
● MD24870 $MC_TRACYL_BASE_TOOL_2 [ 1 ] = 0.0 (offset relative to 2nd transformation
geometry axis)
● MD24870 $MC_TRACYL_BASE_TOOL_2 [ 2 ] = 0.0 (offset relative to 3rd transformation
geometry axis)
TRACYL input axes

● MD24210 $MC_TRAFO_AXES_IN_2[ 0 ] = 3 (3rd channel axis ZC, perpendicular to the
rotary axis)
● MD24210 $MC_TRAFO_AXES_IN_2[ 1 ] = 6 (6th channel axis CC, rotary axis)
● MD24210 $MC_TRAFO_AXES_IN_2[ 2 ] = 2 (2nd channel axis YC, parallel with the rotary
axis)
● MD24210 $MC_TRAFO_AXES_IN_2[ 3 ] = 1 (1st channel axis XC, special axis)
Transformations
2.3 Oblique angle transformation (inclined axis) TRAANG (option)
Programming
N10 WORKPIECE(,"",,"CYLINDER",0,0,-180,-80,179) ; Blank definition
N20 M3 S2000 ; Setting spindle speed
N30 T="NUTFRAESER" M6 D1 ; Tool selection
N40 G0 G54 X0 Y-20 Z105 ; Positioning
N50 CYCLE800(0,"TABLE",100000,57,0,0,0,-90,0,0,0,0,0,-1,100,1) ; Rotate A-axis with swivel cycle
N60 G17 G90 ; Setting the machining plane
N70 G0 Y-10 Z100 G40 ; Positioning
N80 TRACYL(179, 2) ; Selecting the Tracyl data set
2 with groove wall offset
N90 OFFN=20 ; Setting the offset (half
groove width)
N100 G1 F500 X0 Z75 G42 ; Setting the starting point and
selecting the TRC
N110 Y30 ; Groove center path
N120 X-60 ; Groove center path
N130 X0 ; Groove center path
N140 Y-10 ; Groove center path
N150 Z105 G40 ; Retraction and deselection of
the TRC
N160 TRAFOOF ; Deselection of the transforma-
tion
N170 G0 X0 Y-20 Z115 ; Positioning retract movement
N180 M5 ; Spindle stop
N190 CYCLE800(0,"TABLE",100000,57,0,0,0,0,0,0,0,0,0,-1,100,1) ; Turn back A axis
N200 M30 ; End of program
2.3.1 Function
Note
Option
For function "Oblique angle transformation (TRAANG) with programmable angle", option
"6FC5800-0AM28-0YB0" is necessary which requires a license.
For function "Oblique angle transformation (TRAANG) with fixed angle", option
"6FC5800-0AS54-0YB0" is necessary which requires a license.
The oblique angle transformation permits programming in the Cartesian workpiece coordinate
system (WCS) on machines with obliquely arranged machine axes, which is a typical axis
arrangement on grinding machines.
Transformations
The controller transforms the programmed traversing movements of the Cartesian coordinate
80
==0
0 &0
$60
① Grinding disk
② Workpiece
X Geometry axis
Z Geometry axis
ZM Machine axis
UM Machine axis
α Angle of inclined axis
CM Machine axis (spindle)
ASM Machine axis (tailstock)
Figure 2-14 Grinding with inclined infeed axis
Versions
● Oblique angle transformation (TRAANG) with programmable angle
For oblique angle transformation (TRAANG) with programmable angle, when activating the
transformation, the angle can be specified.
See Section "Activating an oblique angle transformation with programmable angle
(TRAANG) (Page 72)"
● Oblique angle transformation (TRAANG) with fixed angle
For oblique angle transformation (TRAANG) with fixed angle, when activating the
transformation, an angle cannot be specified.
See Section "Activate oblique angle transformation with fixed angle (TRAANG) (Page 73)"
Transformations
Note
For active transformation, the names of the machine, channel and geometry axes involved
must be different:
2.3.2.1 Overview

channel)
● MD2xxxx $MC_TRAFO_INCLUDES_TOOL_<n> (tool handling with active <n>th
transformation)
For TRAANG (type 1024), no more than two transformation data sets may be parameterized in
a channel:
● MD2xxxx $MC_TRAFO_TYPE_<x> = <TRAANG type>
● MD2xxxx $MC_TRAFO_TYPE_<y> = <TRAANG type>
Machine data: Transformation TRAANG

A TRAANG transformation is parameterized using the following machine data:
● MD2xxxx $MC_TRAANG_ANGLE_<n> (angle between longitudinal axis and inclined axis)
● MD2xxxx $MC_TRAANG_BASE_TOOL_<n> (basic offset of the tool zero)
● MD2xxxx $MC_TRAANG_PARALLEL_VELO_RES_<n> (velocity margin for the
compensation movements
of the longitudinal axis)
● MD2xxxx $MC_TRAANG_PARALLEL_ACCEL_RES_<n> (acceleration margin for the
compensation movements
of the longitudinal axis)
Transformations
where <n> = 1, 2 (TRAANG data set number)

The following shows an axis configuration that is typical of TRAANG.
0'
0&B$;&21)B*(2$;B$66,*1B7$%
&KDQQHO
0' &KDQQHO
0&B$;&21)B*(2$;B1$0(B7$%

&KDQQHO
&KDQQHO
VWJHRPHWU\D[LV>@ ;
&KDQQHO
&KDQQHO

0' 0'
0&B$;&21)B&+$1$;B1$0(B7$% 0&B$;&21)B0$&+$;B86('
&KDQQHO &KDQQHO
&KDQQHO &KDQQHO
VWFKDQQHOD[LV>@ =&
QGFKDQQHOD[LV>@ &&
UGFKDQQHOD[LV>@ $6&
WKFKDQQHOD[LV>@ 8&

0' 0'
0$B63,1'B$66,*1B72B0$&+$; 0$B$;&21)B0$&+$;B1$0(B7$%
QGPDFKLQHD[LV>$;@ 80
UGPDFKLQHD[LV>$;@ =0
① Effective if TRAANG is active.
Machine axis name

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 1 ] = "UM"
Transformations
Geometry axis names

Channel axis names

● MD20080 $MC_AXCONF_CHANAX_NAME_TAB[ 3 ] = "UC"

TRAANG not active:
● MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[ 2 ] = 1 (3rd geometry axis → 1st channel
axis ZC)
TRAANG active:
axis → 4th channel axis UC)
● MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1[ 1 ] = 0 ( - )
axis → 1st channel axis ZC)

● MD20070 $MC_AXCONF_MACHAX_USED[ 0 ] = 3 (1st channel axis → 3rd machine axis
ZM)
● MD20070 $MC_AXCONF_MACHAX_USED[ 1 ] = 1 (2nd channel axis → 1st machine axis
CM)
ASM)
● MD20070 $MC_AXCONF_MACHAX_USED[ 3 ] = 2 (4th channel axis → 2nd machine axis
UM)
Transformations
Angle between longitudinal axis and inclined axis

● MD24700 $MC_TRAANG_ANGLE_<n> = <angle>
with -90° < angle < 90° , without 0°
The angle is counted positively in the clockwise direction starting at X (see Section "Function
(Page 66)": Angle α).
Base offset of the tool zero

The base offset of the tool zero is specified for the valid geometry axes for the active
transformation. The base offset is included with and without selection of the tool length
compensation. Programmed tool length compensations are added to the base tool.
● $MC_TRAANG_BASE_TOOL_<n>[ k ] = <base offset>
with k = 0, 1, 2 (1st - 3rd geometry axis)
Note
The tool zero is not converted when the angle is changed.
Optimization of velocity control

The machine data used to optimize the velocity control in jog mode and in positioning and
oscillation modes:
Speed margin
The machine data sets the speed margin for the compensation movements of the longitudinal
axis:
MD24720 $MC_TRAANG_PARALLEL_VELO_RES_<n> = <value>
<value> Meaning
0.0 The speed margin is determined by the NC depending on the angle of the inclined
axis and the speed capability of the inclined and the longitudinal axis so that the same
speed limitation results in the direction of the longitudinal axis and of the associated
perpendicular (virtual) axis.
> 0.0 Speed margin = <value> * (MD32000 $MA_MAX_AX_VELO of the longitudinal axis)
Acceleration margin
The machine data sets the acceleration margin for the compensation movements of the
longitudinal axis:
Transformations
$MC_TRAANG_PARALLEL_ACCEL_RES_<n> = <value>
<value> Meaning
0.0 The acceleration margin is determined by the NC depending on the angle of the
inclined axis and the acceleration capability of the inclined and the longitudinal axis so
that the same acceleration limitation results in the direction of the longitudinal axis and
of the associated perpendicular (virtual) axis.
> 0.0 Acceleration margin = <value> * (MD32300 $MA_MAX_AX_ACCEL of the longitudi‐
nal axis)
M code for transformation change

The specified M code is output for switching the transformation:
● MD22534 $MC_TRAFO_CHANGE_M_CODE = <value>
WARNING
No M code is output.
The values 0 to 6, 17 and 30 are not output to the PLC.
2.3.3 Programming
2.3.3.1 Activating an oblique angle transformation with programmable angle (TRAANG)

The oblique angle transformation with programmable angle is activated in the part program or
synchronized action using the TRAANG statement.
Syntax
TRAANG
TRAANG()
TRAANG(, <n>)
TRAANG(<α>)
TRAANG(<α>,<n>)
Meaning
TRAANG: Activate TRAANG with the first TRAANG data set and last valid angle
TRAANG(): <α>
TRAANG(, <n>): Activate TRAANG with the <n>th TRAANG data set and last valid angle
<α>
TRAANG(<α>): Activate TRAANG with the first TRAANG data set and angle <α>
TRAANG(<α>,<n>): Activate TRAANG with the <n>th TRAANG data set and angle <α>
Transformations
<α>: Angle of the inclined axis (optional)

Range of values: -90° < α < + 90°
The initial state parameterized in the machine data is effective if an
angle is not specified:
MD2xxxx $MC_TRAANG_ANGLE_<n>
<n>: TRAANG data set number (optional)
Note
Oblique angle transformation TRAANG active in the channel is deactivated using:
● Activation of another transformation: E.g. TRACYL, TRANSMIT, TRAORI
Example
N20 TRAANG(45) ; Activate TRAANG with the first TRAANG data set and angle 45°
2.3.3.2 Activate oblique angle transformation with fixed angle (TRAANG)

The oblique angle transformation (TRAANG) with a fixed angle (TRAANG) is activated in the
part program or synchronized action using the TRAANG statement. When activated, it is not
permissible that an angle is specified. The angle parameterized in the machine data of the
particular TRAANG data set is active.
Syntax
TRAANG
TRAANG()
TRAANG(, <n>)
Meaning
TRAANG: Activate TRAANG with the first TRAANG data set and angle <α> from
TRAANG(): machine data MD24700 $MC_TRAANG_ANGLE_1
TRAANG(, <n>): Activate TRAANG with <n>th TRAANG data set and angle <α> from
machine data MD2xxxx $MC_TRAANG_ANGLE_<n>
<n>: TRAANG data set number (optional)
Transformations
Note
Oblique angle transformation TRAANG active in the channel is deactivated using:
● Activation of another transformation: E.g. TRACYL, TRANSMIT, TRAORI
Example
N20 TRAANG(,2) ; Activate TRAANG with second TRAANG data set
; and angle from MD24750 $MC_TRAANG_ANGLE_2.
2.3.3.3 Oblique plunge-cutting on grinding machines (G5, G7)

The G commands G7 and G5 are used to simplify programming of oblique plunge-cutting on
grinding machines with "inclined axis (TRAANG)", so that when plunge cutting, only the inclined
axis is traversed.
Only the required end position of the plunge-cutting motion has to be programmed in X and Z.
For G7, starting from the actual position of the X axis, the NC calculates and approaches the
programmed end position and angle α of the inclined axis.
The starting position is calculated from the point where the two straight lines intersect:
● Straight line parallel to the Z axis, at a distance from the actual position of the X axis
● Straight line parallel to the inclined axis through the programmed end position
With the subsequent G5, the inclined axis is traversed to the programmed end position.
Syntax
G7 <Endpos_X> <Endpos_Z>
G5 <Endpos_X>
Meaning
G7: Calculate the starting position for the oblique plunge-cutting and approach.
G5: Traverse the inclined axis to the programmed end position
<Endpos_X>: X axis end position
<Endpos_Z>: End position of the Z axis
Transformations
Example
˞
80

;

1
1
==0
0 &0
$60
① Grinding wheel
② Workpiece
③ Parallel to the inclined axis through the programmed end position
④ Starting position
⑤ Plunge-cutting: Starting position
⑥ Plunge-cutting: End position
⑦ Parallel to the Z axis, at a distance from the actual position of the X axis
X Geometry axis
Z Geometry axis
ZM Machine axis
UM Machine axis
Figure 2-15 Programming an inclined axis

N... G18 ; Select XZ plane.
N40 TRAANG (45.0) ; Activate TRAANG transformation, angle = 45°
N50 G7 X40 Z70 F4000 ; Calculate the starting position and approach
N60 G5 X40 F100 ; Traverse inclined axis to the end position.
N70 ...
2.3.4 Boundary conditions

The transformation can be selected and deselected via part program or MDA.
Transformations
Selection and deselection

● An intermediate motion block is not inserted (phases/radii).
● A spline block sequence must be terminated.
● Tool radius compensation must be deselected.
● The current frame is deselected by the control system. Corresponds to programmed G500.
● An active working area limitation is deselected by the control for the axes affected by the
transformation (corresponds to programmed WALIMOF).
● An activated tool length compensation is included in the transformation by the control.
● Continuous path control and rounding are interrupted.
● DRF offsets must have been deleted by the operator.
● All axes specified in machine data MD24110 $MC_TRAFO_AXES_IN_n must be
synchronized on a block-related basis (e.g. no traversing instruction with POSA...).
Tool change
Tools may only be changed when the tool radius compensation function is deselected.
Frames
All instructions which refer to the workpiece coordinate system are permissible (FRAME, tool
radius compensation). Unlike the procedure for inactive transformation, however, a frame
change with G91 (incremental dimension) is not specially treated. The increment to be
traversed is evaluated in the workpiece coordinate system of the new frame - regardless of
which frame was effective in the previous block.
Extensions
When the oblique angle transformation (TRAANG) is selected and deselected, the assignment
between geometry axes and channel axes can change. The user can apply these geometric
contour sections to the axial frame as a translation, rotation, scaling and mirroring in relation to
the x and z planes with respect to the inclined infeed axis.
Further information
Further detailed information on the frame corrections for transformations can be found in:
Function Manual Basic Functions; Axes, coordinate systems, frames
Unusable functions
The following functions cannot be used in channel axes involved in the transformation:
● Set actual value (PRESETON)
● Travel to fixed stop (FXS)
● Reference point approach (G74 or manual reference point approach)
Transformations
Velocity control
The velocity monitoring function for oblique angle transformation (TRAANG) is implemented by
default during preprocessing. The velocity monitoring function and limitation in the main run
takes place in the following operating states:
● AUTOMATIC mode: Programming of a positioning or oscillating axis that is involved in the
transformation
● JOG mode: After a change of operating mode to JOG mode
After resynchronization of the preprocessing to the main run, e.g. after a change of operating
mode from JOG to AUTOMATIC mode, velocity monitoring and limitation takes place in the
preprocessing again.
Note
Program operation: Behavior with axis-specific feedrate stop
● Velocity monitoring in main run
Program execution is stopped with active velocity monitoring in the main run for one of the
axes involved in the transformation of the axis-specific feedrate stop at (DBX31, ... DBX4.3
== 1).
● Velocity monitoring in the preprocessing
The NC program execution continues with active velocity monitoring in the preprocessing
for one of the axes involved in the transformation of the axis-specific feedrate stop at
(DBX31, ... DBX4.3 == 1). The precondition for this is that no traversing motions are
programmed for the relevant axis.
Transformations
2.3.5 Example
The example refers to the axis configuration shown in the following figure.
80
==0
0 &0
$60
① Grinding disk
② Workpiece
X Geometry axis
Z Geometry axis
ZM Machine axis
UM Machine axis
Figure 2-16 Inclined axis
Parameterization
Machine axis name

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 1 ] = "UM"
Geometry axis names

Transformations
Channel axis names

● MD20080 $MC_AXCONF_CHANAX_NAME_TAB[ 3 ] = "UC"

TRAANG not active:
● MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[ 2 ] = 1 (3rd GeoAxis → 1st channel axis
ZC)
TRAANG active:
● MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1[ 0 ] = 4 (1st TrafoGeoAxis → 4th
channel axis UC)
● MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1[ 1 ] = 0 ( - )
● MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1[ 2 ] = 1 (3. TrafoGeoAxis → 1st channel
axis ZC)

● MD20070 $MC_AXCONF_MACHAX_USED[ 0 ] = 3 (1st channel axis → 3rd machine axis
ZM)
● MD20070 $MC_AXCONF_MACHAX_USED[ 1 ] = 1 (2nd channel axis → 1st machine axis
CM)
ASM)
● MD20070 $MC_AXCONF_MACHAX_USED[ 3 ] = 2 (4th channel axis → 2nd Machine axis
UM)
Transformation type
● MD24100 $MC_TRAFO_TYPE_1 = 1024 (TRAANG)
Angle between Cartesian axis and real (oblique) axis

● MD24700 $MC_TRAANG_ANGLE_1 = 45.
Transformations
Basic offset of the tool zero relative to the geometry axes while TRAANG is active
● MD24710 $MC_TRAANG_BASE_TOOL_1 [0] = 0.0 (offset relative to 1st TrafoGeoAxis)
● MD24710 $MC_TRAANG_BASE_TOOL_1 [1] = 0.0 (offset relative to 2nd TrafoGeoAxis)
● MD24710 $MC_TRAANG_BASE_TOOL_1 [2] = 0.0 (offset relative to 3rd TrafoGeoAxis)
TRAANG input axes

● MD24110 $MC_TRAFO_AXES_IN_1[ 0 ] = 4 (4th channel axis UC, inclined axis)
● MD24110 $MC_TRAFO_AXES_IN_1[ 1 ] = 1 (1st channel axis ZC, parallel with the Z axis)
● MD24110 $MC_TRAFO_AXES_IN_1[ 2 ] = 0 ( - )
Programming example
N10 G0 G90 Z0 UM=10 G54 F5000 G18 G64 T1 D1 ; XZ planes, tool selection, clamping compensation
N20 TRAANG(45) ; Activate TRAANG with the first TRAANG data set
and angle 45°
N30 G0 Z10 X5 ; Approach the start position
N40 WAITP(Z) ; Wait for end of travel of the Z axis
N50 OSP1[Z]=10 OSP2[Z]=5 OST1[Z]=–2 OST2[Z]=–2 ; Oscillating motion
FA[Z]=5000 ; OSP1/OSP2: Left/right reversal point
; OST1/OST2: Stopping point at the left/right re-
versal point
N60 OS[Z]=1 ; Activate oscillation
N70 POS[X]=4.5 FA[X]=50 ; Position X axis in parallel
N80 OS[Z]=0 ; Deactivate oscillation
N90 WAITP(Z) ; Wait for end of travel of the Z axis
N100 TRAFOOF ; Deactivate transformation
N110 G0 Z10 UM=10 ; Retract
N120 M30
Transformations
2.4 Chained transformations
2.4.1 Function
2.4.1.1 Introduction
For a concatenated transformation, two transformations can be connected one after the other
(chained). As a consequence, motion components of the axes can be taken from the first
transformation and used as input data for the second transformation. The motion components
of the axes from the second transformation then act on the machine axes.
● The following are possible as first transformation:
– TRAORI orientation transformations, including universal milling head
Further information
F2: Multi-axis transformations (Page 137)
– Face end transformation TRANSMIT
– Cylinder surface transformation TRACYL
● Only the following is possible as second transformation:
– Inclined axis TRAANG
Note
Exception, when commissioning
A concatenated transformation normally comprises two transformations chained one after the
other. For test purposes, e.g. during commissioning, it is also permissible to enter just one
transformation in the chaining list.
Note
Different axis identifiers
For active transformation, the names of the machine, channel and geometry axes involved
must be different:
Application examples
● Grinding contours that are programmed as a side line of a cylinder (TRACYL) using an
inclined grinding wheel, e.g. tool grinding.
● Finish cutting of a contour that is not round and was generated with TRANSMIT using an
inclined grinding wheel.
Transformations
Axis configuration
The following configuration measures are necessary for a chained transformation:
● Assignment of names to geometry axes
● Assignment of names to channel axes
● Assignment of geometry axes to channel axes
– General situation (no transformation active)
● Assignment of channel axes to machine axis numbers
● Identification of spindle, rotation, modulo for axes
● Allocation of machine axis names
● Transformation-specific settings (for individual transformations and for chained
transformations)
– Transformation type
– Axes going into the transformation
– Assignment of geometry axes to channel axes during active transformation
– Depending on transformation, rotational position of the coordinate system, direction of
rotation, tool zero point in relation to the original coordinate system, angle of the inclined
axis, etc.
Note
Supplementary conditions and special cases
The supplementary conditions and special cases specified in the individual transformation
descriptions must also be observed when used within a chained transformation.
Boundary conditions
Transformation data blocks for each channel

Several transformation data blocks can be defined for each channel. The names of the
corresponding machine data of the transformations begin with $MC_TRAFO... and end
with..._n, where n = 1, 2, 3, ...
Number of chained transformations

Within the transformations of a channel, a maximum of two chained transformations may be
defined.
Chaining direction
The first transformation of the chained transformations has the basic coordinate system (BCS)
as input.
The second transformation of the chained transformations has the machine coordinate system
(MCS) as output.
Transformations
Tool data
A tool is always assigned the first transformation of chained transformations. The subsequent
transformation then behaves as if the active tool length were zero.
Only the basic tool lengths set in the machine data (_BASE_TOOL_) are valid for the first
transformation in the chain.
2.4.1.2 System variables

The following transformation-specific system variables are available:
System variable Meaning

$AA_ITR Current setpoint value at output of the nth transformation
$AA_IBC Current setpoint value of a cartesian axis
$VA_ITR Current actual value at output of the nth transformation
$VA_IBC Current cartesian BCS encoder position of an axis
$VA_IW Current WCS actual value of an axis
$VA_IB Current BCS encoder position of an axis
Boundary conditions
● Warm restart
The encoder position has the value 0 for non-referenced axes. For the $VA variables, the
encoder actual values are appropriately inverse-transformed.
● Channel reset
The active transformation can change after a channel reset. This can have a direct influence
on the system variable values.
An active transformation, which is active again after a channel reset, is briefly deactivated
and then reactivated. This influences the position variables. The values of variables can
change.
Via the variable:
$AC_STAT == 0
this status can be queried in synchronous actions.
Transformations
$AA_ITR: Actual setpoint value at output of the nth transformation

System variable $AA_ITR[ <axis>, <transformation layer> ] determines the setpoint position of
an axis at the output of the n th cascaded transformation.
\ \ \ \ \
[ [ [ [ [
] ] ] ] ]
%&6 7UDQVI 7UDQVI 7UDQVI 7UDQVI 0&6

/D\HU
/D\HU
/D\HU
/D\HU
/D\HU
Figure 2-17 Transformer layer
Axis
As 1st index of the system variable, either a geometry, a channel or a machine axis name is
permissible. When programming geometry axis names, in each transformer layer, the
assignment of the channel axes to the geometry axes corresponding to transform layer 0 is
effective. This means that the geometry axis assignment on the BCS side is active in all planes.
Using geometry axis names is meaningful only if the geometry axes are not switched over.
Otherwise, it is always better to use channel axis names.
Transformer layer
The 2nd index of the system variable corresponds to the transformation layer from which the
positions are taken:
● Transformer layer 0: The positions correspond to BCS positions, $AA_ITR[x,0] == $AA_IB[x]
● Transformer layer 1: Setpoint positions at the output of the 1st transformation
● Transformer layer 2: Setpoint positions at the output of the 2nd transformation
● Transformer layer 3: Setpoint positions at the output of the 3rd transformation
● Transformer layer 4: Setpoint positions at the output of the 4th transformation, $AA_ITR[x,4]
== $AA_IM[x]
If one or more transformations of the transformation chain are missing, the highest layers
continue to deliver the same values. If, for example, transformation 3 and transformation 4 are
missing, then the following applies:
$AA_ITR[x,2] = $AA_ITR[x,3] = $AA_ITR[x,4] = $AA_IM[x]
If the transformations are deactivated using TRAFOOF - or for a channel reset - then layers 0 to
4 merge. The system variable then supplies the BCS value (layer 0).
Transformations
$AA_IBC: Actual setpoint of a cartesian axis

System variable $AA_IBC[ <axis>] determines the setpoint position of a cartesian axis lying
between BCS and MCS. If an axis is cartesian at the output of the nth transformation, then this
output value is delivered. If the corresponding axis at the output of all transformations is not
cartesian, then the BCS value including all BCS offsets of the axis are determined.
If TRACON responds to an axis as cartesian, then its MCS value is delivered. The used axis
name can be a geometry, channel or a machine axis name.
$VA_ITR: Actual value at the output of the nth transformation

System variable $VA_ITR[ <axis>, <transformation layer> ] determines the setpoint position of
an axis at the output of the n th chained transformation.
$VA_IBC: Actual cartesian BCS encoder position of an axis

System variable $VA_IBC[ <axis> ] determines the encoder position of a cartesian axis lying
between BCS and MCS. The used axis name can be a geometry, channel or a machine axis
name.
If an axis at the output of the nth transformation is cartesian, then this output value is delivered.
If the corresponding axis at the output of all transformations is not cartesian, then the BCS value
of the axis is determined.
$VA_IW: Current WCS actual value of an axis

System variable $VA_IW[ <axis> ] determines the encoder position of an inverse-transformed
axis in WCS. The WCS value contains all axis-related superimposition portions (DRF,
AA_OFF, ext. zero offset etc.) and offset values (CEC, etc.).
$VA_IB: Actual BCS encoder position of an axis

System variable $VA_IB[ <axis> ] determines the inverse-transformed encoder position of an
axis in BCS. The BCS value contains all axis-related superimposition portions (DRF, AA_OFF,
ext. zero offset etc.) and offset values (CEC, etc.).
Note
$VA_ITR$, VA_IBC, $VA_IW, $VA_IB
The value of the variable does not change while reading the variable within an IPO cycle,
although the actual value could have changed.
In active transformations, one must consider that the transformation of the actual values into
BCS in the IPO cycle can be very time-consuming. In this case one must set an adequate IPO
cycle.
Transformations
2.4.2 Programming
A configured concatenated (chained) transformation is activated in the part program or

synchronized action using the TRACON statement.
Syntax
TRACON(<Trafo_No>,<Par_1>,...,<Par_n>,<Par_n+1>)
...
TRAFOOF
Meaning
TRACON: Activate concatenated transformation

If another transformation was previously activated, it is implicitly dis‐
abled by means of TRACON().
<Trafo_No>: Number of the concatenated transformation:
Type: INT
Range of val‐ 0 ... 2
ues:
Value: 0, 1 First/only concatenated transformation
2 Second concatenated transformation
Not Same meaning as with 0 or 1
speci‐
fied
Note:
Values not equal to 0, 1, 2 generate an error
alarm.
<Par_1>, ..., <Par_n>, Parameters for the concatenated transformations
<Par_n+1>: <Par_1>, ..., <Par_n> Parameters of the first transforma‐
tion in the chain
The actual number depends on
the transformation type:
● TRAORI: 2 parameters
● TRACYL: 1 to 2 parameters
<Par_n+1> Parameters of the second transfor‐
mation in the chain (TRAANG)
≙ angle of the inclined axis
If parameters are not set, the defaults or the parameters last used
take effect. Commas must be used to ensure that the specified pa‐
rameters are evaluated in the sequence in which they are expected,
if default settings are to be effective for previous parameters. In
particular, a comma is required before at least one parameter, even
though it is not necessary to specify <Trafo_No> - for example TRA‐
CON( , 3.7).
TRAFOOF: Deactivate the last activated (concatenated) transformation
Transformations
Example
...
N230 TRACON(1,45.) ; Activate first concatenated transformation.
; The previously active transformation is automatically de-
selected.
; The angle for the inclined axis is 45°.
...
N330 TRACON(2,40.) ; Activate second concatenated transformation.
; The angle for the inclined axis is 40°.
...
N380 TRAFOOF ; Deactivate second concatenated transformation.
...
2.4.3 Examples
2.4.3.1 Application example of chained transformations

The following transformations are to be defined in the channel:
Data set Transformation

1 TRAORI
5-axis transformation with rotatable tool and axis sequence AB (trafo type 16)
2 TRANSMIT
Face end transformation (trafo type 256)
3 TRAANG
Oblique angle transformation (trafo type 1024)
4 TRAORI + TRAANG
First chained transformation (trafo type 8192)
5 TRANSMIT + TRAANG
Second chained transformation (trafo type 8192)
General channel configuration
CHANDATA(1) ; Channel data in channel 1

MD20070 $MC_AXCONF_MACHAX_USED[0]=1
MD20070 $MC_AXCONF_MACHAX_USED[2] = 3
Transformations
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
MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[AX5]= 0
MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[AX7] = 1
MD35000 $MA_ROT_IS_MODULO[AX7] = TRUE
Single transformations
; 1. TRAORI
MD24470 $MC_TRAFO_TYPE_1= 16 ; TRAORI: A-B kinematics
MD24410 $MC_TRAFO_AXES_IN_1[0]=1
MD24120$MC_TRAFO_GEOAX_ASSIGN_TAB_1[0]=1
MD24550$MC_TRAFO5_BASE_TOOL_1[0]=0
; 2. TRANSMIT
MD24200 $MC_TRAFO_TYPE_2 = 256 ; TRANSMIT
MD24210 $MC_TRAFO_AXES_IN_2[0] = 1
MD24220 $MC_TRAFO_GEOAX_ASSIGN_TAB_2[0] =1
; 3. TRAANG
MD24300 $MC_TRAFO_TYPE_3 = 1024 ; TRAANG
Transformations
MD24700 $MC_TRAANG_ANGLE_1 = 45.
MD24720 $MC_TRAANG_PARALLEL_VELO_RES_1 = 0.2
MD24721 $MC_TRAANG_PARALLEL_ACCEL_RES_1 = 0.2
MD24710 $MC_TRAANG_BASE_TOOL_1 [0] = 0.0
Chained transformations
; 4. TRACON (TRAORI + TRAANG chaining)

MD24400 $MC_TRAFO_TYPE_4 = 8192
MD24995 $MC_TRACON_CHAIN_1[0] = 1
; 5. TRACON (TRANSMIT + TRAANG chaining)

Programming example
The following programming example assumes that the angle of the "inclined axis" can be set
on the machine and is set to 0° when the single transformations are activated.

; Tool specification
$TC_DP1[1,1]=120 ;Tool type
$TC_DP3[1,1]=10 ; Tool length
N2 X0 Y0 Z0 A0 B0 F20000 T1 D1
N4 X20
Transformations

; Call single transformations
N30 TRANSMIT ; Activate TRANSMIT
N40 X0 Y20
N50 X-20 Y0
N60 X0 Y-20
N70 X20 Y0
N80 TRAFOOF ; Deactivate TRANSMIT
N130 TRAANG(45.) ; Activate inclined axis transformation
; Parameter: Angle 45°
N140 X0 Y0 Z20
N150 X-20 Z0
N160 X0 Z-20
N170 X20 Z0
...
; Activate chained transformations
N230 TRACON(1,45.) ; First concatenated transformation
; Activate (TRAORI + TRAANG).
; The previously active transformation
; is automatically deselected.
; The parameter for the inclined axis is 45°.
N240 X10 Y0 Z0 A3=-1 C3=1 ORIWKS
N250 X10 Y20 B3=1 C3=1
...
N330 TRACON(2,40.) ; Activate second concatenated
; transformation (TRANSMIT + TRAANG).
; The parameter for the inclined axis
; is 40°.
N335 X20 Y0 Z0
N340 X0 Y20 Z10
N350 X-20 Y0 Z0
N360 X0 Y-20 Z0
N370 X20 Y0 Z0
N380 TRAFOOF ; Deactivate second concatenated
; transformation.
...
N1000 M30
Transformations
2.4.3.2 Determining the axis positions in the transformation chain

Two chained transformations are configured in the following example, and the system variables
for determining the axis positions in the synchronous action are read cyclically in the part
program.

[ ;0

\
75$160,7 75$$1* <0

] =0

\ &

[

\ 75$&</ 75$$1*

]

\
CHANDATA(1)
; TRANSMIT
MD24100 $MC_TRAFO_TYPE_1=256
MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1 [0] = 2
; TRACYL
Transformations
; TRAANG
MD24700 $MC_TRAANG_ANGLE_1 = 45.
MD24720 $MC_TRAANG_PARALLEL_VELO_RES_1 = 0.2
MD24721 $MC_TRAANG_PARALLEL_ACCEL_RES_1 = 0.2
; 1. TRANSMIT/TRAANG chaining
MD24400 $MC_TRAFO_TYPE_4=8192 ; TRACON (1)
; 2. TRACYL/TRAANG chaining
MD24430 $MC_TRAFO_TYPE_5=8192 ; TRACON (2)
MD24996 $MC_TRACON_CHAIN_2[2]=0
MD24996 $MC_TRACON_CHAIN_2[3]=0
M17
Programming example
N10 $TC_DP1[1,1]=120
N20 $TC_DP3[1,1]=20
N30 $TC_DP4[1,1]=0
N40 $TC_DP5[1,1]=0
N50
N60 X0 Y0 Z0 F20000 T1 D1
N70
N80 ; Cyclic reading in the synchronized actions
N90 ID=1 WHENEVER TRUE DO $R0=$AA_ITR[X,0] $R1=$AA_ITR[X,1] $R2=$AA_ITR[X,2]
Transformations
2.5 Persistent transformation

N100 ID=2 WHENEVER TRUE DO $R3=$AA_IBC[X] $R4=$AA_IBC[Y] $R5=$AA_IBC[Z]
N110 ID=3 WHENEVER TRUE DO $R6=$VA_IW[X]-$AA_IW[X]
N120 ID=4 WHENEVER TRUE DO $R7=$VA_IB[X]-$AA_IB[X]
N130 ID=5 WHENEVER TRUE DO $R8=$VA_IBC[X]-$AA_IBC[X]
N140 ID=6 WHENEVER TRUE DO $R9=$VA_ITR[X,1]-$AA_ITR[X,1]
N150
N160
N170 TRACON(1,) ; 1. TRANSMIT/TRAANG chaining
N180 X20 Y0 Z0
N190 X0 Y20 Z10
N200 X-20 Y0 Z0
N210 X0 Y-20 Z0
N220 X20 Y0 Z0
N230 TRAFOOF
N240
N250
N260 TRACON(2, 40.) ; 2. TRACYL/TRAANG chaining
N270 X20 Y0 Z0
N280 X0 Y20 Z10
N290 X-20 Y0 Z0
N300 X0 Y-20 Z0
N310 X20 Y0 Z0
N320 TRAFOOF
N330
N340 M30
Function
A persistent transformation is always active and has a relative effect to the other explicitly
selected transformations.
Selected transformations are computed as the first chained transformation in relation to the
persistent transformation.
Transformations such as e.g. TRANSMIT, which are selected relative to the persistent
transformation, are chained in the NC program with persistent transformation using TRACON.
The chained transformation, e.g. TRANSMIT, is then programmed in the NC program.
Further information
Programming Manual Advanced; Transformations > Activate concatenated transformation
(TRACON)
Transformations
Selection and deselection

Persistent transformation is selected via the following machine data:
● MD20144 $MC_TRAFO_MODE_MASK, bit 0 = 1
● MD20144 $MC_TRAFO_RESET_VALUE defines persistent transformation.
● MD20140 $MC_TRAFO_RESET_VALUE=Number of the transformation data set of the
persistent transformation
Other machine data

● MD20110 $MC_RESET_MODE_MASK
– Bit 0 = 1 (Bit 7 is evaluated)
– Bit 7 =0 (MD20140 $MC_TRAFO_RESET_VALUE determines the transformation data
set)
● MD20112 $MC_START_MODE_MASK (MD20140 $MC_TRAFO_RESET_VALUE)
● MD20118 $MC_GEOAX_CHANGE_RESET= TRUE (i.e. geometry axes are reset).
With TRAFOOF the active, chained transformation TRACON is deselected and the persistent
transformation is automatically selected.
Effects on HMI operation

As a transformation is always active with the persistent transformation, the HMI user interface
is adapted accordingly for the selection and deselection of transformations:
Chained transformation TRACON

The HMI operator interface does not display TRACON, but the 1st chain transformation of
TRACON, e.g. TRANSMIT. Accordingly, the transformation type of the 1st chained
transformation is returned by the system variable, i.e. $P_TRAFO or $AC_TRAFO. Cycles that
TRANSMIT uses can then be directly used.
Deactivating the TRAFOOF transformation

In accordance with the TRAFOOF programming instruction no transformation is displayed in the
G command list at the user interface. System variable $P_TRAFO as well as $AC_TRAFO then
supply a value of 0. The persistent transformation is active and the BCS and MCS coordinate
systems differ. The displayed MCS position always refers to the actual machine axes.
System variables
System variable to read transformation types of the active or chained transformations.
● $AC_TRAFO (active transformation)
● $AC_TRAFO_CHAIN[0] (active chained transformation)
● $P_TRAFO (programmed transformation)
● $P_TRAFO_CHAIN[0] (programmed chained transformation)
Transformations
Frames
Frame adjustments for selection and deselection of the TRACON are carried out as if there was
only the first chained transformation. Transformations on the virtual axis cease to be effective
when TRAANG is selected.
JOG
The persistent transformation remains in effect when traversing with JOG.
Boundary conditions
The persistent transformation does not change the principle operating sequences in the NC. All
restrictions applying to an active transformation also continue to apply:
● For RESET, an existing transformation is completely deselected - and the persistent
transformation is selected again.
● When referencing, the transformation is deselected and then requires a channel reset or NC
start in order to again select the persistent transformation.
Example
For a lathe with an inclined additional Y axis, the transformation of the inclined axis should be
part of the machine configuration. As a consequence, it does not have to be taken into
consideration by the programmer. With TRACYL or TRANSMIT, the transformations are
selected, which must then include TRAANG.
When deactivating the programmed transformations, TRAANG is automatically reactivated.
TRACYL or TRANSMIT are correspondingly displayed on the user interface.
Machine constellation: Lathe with a Y1 axis, inclined to X1 and perpendicular to Z1
Machine data parameterization
Program code
CANDATA (1)
; Kinematic without transformations
MD20080 $MC_AXCONF_CHANAX_NAME_TAB[1] = "Y2"
MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[0] = 1
; Data for TRAANG
MD24100 $MC_TRAFO_TYP_1 = 1024 ; TRAANG, Y1 axis inclined to X1,
perpendicular to Z1
MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1[0] = 1
Transformations
Program code
; Definition of persistent transformation
MD20144 $MC_TRAFO_MODE_MASK = 1
MD20140 $MC_TRAFO_RESET_VALVUE= 1
MD20110 $MC_RESET_MODE_MASK = 'H01'
MD20112 $MC_START_MODE_MASK = 'H80'
MD20140 $MC_TRAFO_RESET_VALUE
MD20118 $MC_GEOAX_CHANGE_RESET= TRUE
; Data for TRANSMIT, TRACYL
MD24911 $MC_TRANSMIT_POLE_SIDE_FIX_1 = 1 ; also 2, causes alarm 21617
MD24200 $MC_TRAFO_TYP_2 = 257 ; TRANSMIT
MD24300 $MC_TRAFO_TYP_3 = 514 ; TRACYL

; Data for TRACON
; TRACON chaining TRANSMIT 257/TRAANG (Y1 axis inclined in relation to X1)
MD24400 $MC_TRAFO_TYP_4 = 8192 ; TRACON
; TRACON chaining TRANSMIT 257/TRAANG (Y1 axis inclined in relation to X1)
MD24430 $MC_TRAFO_TYP_5 = 8192 ; TRACON
MD24996 $MC-TRACON_CHAIN_2[0] = 2
MD24996 $MC-TRACON_CHAIN_2[1] = 1
M17
Transformations
2.6 Cartesian PTP travel
NC program
Program code
$TC_DP1[1,1]=120 ; tool type
$TC_DP2[1,1] = 0
$TC_DP3[1,1]=3 ; length compensation vector
$TC_DP4[1,1]=25
$TC_DP5[1.1] =5
$TC_DP6[1,1]= 2; Radius; tool radius
; Transformation changeover
N1000 G0 X0 Y=0 Z0 A80 G603 SOFT G64
N1010 X10 Y20 Z30 ; TRAANG(,1) not required, as automatically selected
N1110 TRANSMIT(1)
N1120 X10 Y20 Z30
N1130 Y2=0 ; TRACON(2) not required, as automatically converted
N1210 TRAFOOF ; TRAANG(,1) not required, as automatically converted
N1220 X10 Y20 Z30
M30
2.6.1 Function
Precondition
Cartesian point-to-point or PTP travel can only be activated if one of the following
transformations is active:
● TRAORI (orientation transformation)
● TRANSMIT (face side transformation)
● TRACON (chained transformation)
Precondition: The first chained transformation supports PTP travel!
● RCTRA (transformation for 2 to 4-axis handling/robot kinematics)
Precondition: Compile cycle "RMCC/RCTRA Transformation Handling" is loaded and
active!
● ROBX (transformation for 4 to 6-axis robot kinematics)
Precondition: Compile cycle "RMCC/ROBX Transformation Extended Robotics" is loaded
and active!
Without active transformation, alarm 14146 "CP or PTP motion without transformation not
permitted" is output.
Note
The axes of the transformation must not simultaneously be positioning axes.
Transformations
Function
With the Cartesian PTP travel, in G0 and G1 sets it is possible to approach a point programmed
as a Cartesian destination point with a synchronous axis movement.
Regarding the traversing movement, the Cartesian PTP travel acts as though no
transformation is active The position data in the part program continue to be in the Cartesian
workpiece coordinate system. Programmed frames (coordinate movements and rotations)
remain valid. The display is also in the Cartesian workpiece coordinate system.
The movement in the Cartesian PTP travel is described by a starting and end position of the
axes. The path of the movement described by the individual axes from the starting to the end
position is not specified by the controller by means of path interpolation points and can
therefore not be predicted. The axes only have to reach their specified target position.
Interaction between the axis movements only exists in regard to time, i.e. all axis start
simultaneously and are stopped at the same time when the target position has been reached.
The slowest axis determines the total traverse time.
One sensible usage option is to travel by a singularity. If Cartesian positions are available,
which are provided by a CAD/CAM system for example, this has the benefit of not having to
convert them into machine axis values. Furthermore, direct traversing of the machine axes is
time-optimized compared to Cartesian traversing with active transformation and programmed
feed. The result of this would either be a corresponding reduction of the feedrate when
traversing through the singularity (speed planning in preprocessing) or an overload of the axis
if no speed planning is carried out in preprocessing.
Note
Cartesian PTP travel is only permissible in conjunction with the interpolation types G0 and G1.
Versions
Three versions are available for Cartesian PTP travel:
● PTP
The programmed Cartesian position in G0 and G1 blocks is approached with synchronous
axis motion.
● PTPG0
Only in G0 blocks is the programmed Cartesian position approached with synchronous axis
motion. In G1 blocks, it is switched to the type of motion CP (CP = Continuous Path) and the
position is approached with a Cartesian path motion.
● PTPWOC (only for orientation transformation)
Just the same as PTP, however, without any compensatory motion, which is caused by
motion of rotary axes and orientation axes.
Since the transformation, which compensates the movement of the tool tip (TCP) during
orientation changes, is not active, the position of the TCP in the workpiece coordinate
system must generally also be changed if no linear axes involved in the transformation are
programmed.
Programmed linear axis movements are carried out in the workpiece coordinate system that
applies at the beginning of the block and overlays the simultaneously programmed rotary
axis movements if applicable. The block end point that is reached in the workpiece
coordinate system is therefore generally not the same as the programmed end point.
Transformations
The following table lists which version can be practically used for which transformation:
transformation PTP PTPG0 PTPWOC CP

TRAORI + + + +
TRANSMIT + + - +
RCTRA + + - +
ROBX + + - +
NOTICE
Risk of collision
For PTP travel it must be observed that in part there are significantly different tool movements
than with CP!
This must especially be considered for PTPG0, because subprograms can be created with it
independently of the active transformation. With active front-end transformation (TRANSMIT),
however, entirely different collision risks may occur than with an orientation transformation
(TRAORI).
For PTP travel with active front-end transformation (TRANSMIT), machine axes basically
travel the shortest path. Minor displacements of the block end point can cause the rotary axis
to rotate by +179.99° instead of + -179.99°. This results in a completely different motion, even
though the block end point has hardly changed.
PTP/CP switchover in the NC program

The switchover between the Cartesian path movement (CP) and the Cartesian PTP travel in
the NC program is done via the commands of the G group 49 (see "Activating/deactivating
Cartesian PTP travel (PTP, PTPG0, PTPWOC, CP) (Page 103)").
PTP/CP switchover in JOG mode

You can also switch between the Cartesian path movement (CP) and the Cartesian PTP travel
in JOG mode.
Switchover is carried out using the NC/PLC interface signal:
DB21, ... DBX29.4 (activate PTP travel)
Note
DB21, ... DBX29.4 is only effective in JOG mode when the transformation is active.
The active type of motion is reported via the following NC/PLC interface signal:
DB21, ... DBX317.6 (PTP travel active)
Transformations
2.6.2 Commissioning
2.6.2.1 Response after POWER ON

After Power On, traversing mode CP is automatically effective for axis traversal with
transformation.
The default can be switched over to Cartesian PTP travel via the following machine data:
MD20150 $MC_GCODE_RESET_VALUES[48] (initial setting of G group 49)
Value Meaning
1 CP (default setting)
2 PTP
3 PTPG0
4 PTPWOC
2.6.2.2 Response after reset/part program end

Which command from G group 49 takes effect after a reset/part program end depends on the
setting in the machine data:
MD20152 $MC_GCODE_RESET_MODE[48] (reset behavior of G group 49)
Value Meaning
0 The default command in MD20150 $MC_GCODE_RESET_VALUES[48] becomes ef‐
fective (default setting).
1 The command that was active before the reset/part program end remains effective.
2.6.2.3 Consideration of the SW limits during PTP travel
Function
With Cartesian PTP travel, a rotary axis is normally traversed according to the strategy
"shortest path" if no position information has been programmed via the operation TU
(Page 108). To prevent a software limit switch being overtraveled when the target position is
behind the software limit switch, the user can use the "Consideration of the SW limits during
PTP travel" function. The rotary axis is then traversed with the strategy "long path" instead of
"shortest path" if overtravel of the software limit switch would happen, i.e. the opposite
traversing direction as with the "shortest path" strategy.
Requirement
The function can only be used when the relevant axis has been referenced.
Transformations
Activation
The "Consideration of the SW limits during PTP travel" function can be activated separately for
each axis.
This setting is made via bit 14 in the axial machine data:
MD30455 $MA_MISC_FUNCTION_MASK
Bit 14 =0 With Cartesian PTP travel, the strategy "shortest path" is retained for software limit
switch overtravel of a rotary axis (basic setting).
=1 The strategy "long path" is used when during Cartesian PTP travel a rotary axis
with the strategy "shortest path" would overtravel the software limit switch.
Supplementary conditions
Modulo rotary axes

With modulo rotary axes, the strategy "long path" can only be used when the software limit
switch monitoring has been selected for the relevant axis:
DB31, ... DBX12.4 (modulo rotary axis: Activate traversing range limits) = 1
Example
Axis 6 is to traverse from +150° t +240°. The software limit switch is at +200°.
If for axis 6, bit 14 in MD30455 $MA_MISC_FUNCTION_MASK is set to "1", axis 6 is traversed
to -120°.
2.6.2.4 Displaying STAT and TU

In the SINUMERIK Operate user interface, in the "Machine" operating area, users can track the
actual values of STAT (Page 104) and TU (Page 108):
Precondition: The display of STAT and TU is activated when commissioning SINUMERIK

Operate.
Further information
Commissioning Manual SINUMERIK Operate; Adapt operating area of machine > Display
STAT and TU
Transformations
2.6.3 Programming
2.6.3.1 Activating/deactivating Cartesian PTP travel (PTP, PTPG0, PTPWOC, CP)

The Cartesian point-to-point or PTP travel is activated/deactivated in the NC program using G
group 49 commands.
The commands are modal. The default setting is travel with Cartesian path motion (CP).
Contrary to CP, for active PTP travel, only the Cartesian target point is transformed, and the
machine axes are traversed in synchronism.
In order that the Cartesian target point can be uniquely converted into machine axis values, in
addition to position and angular data, information is also necessary that identifies the axis
positions. This data is retrieved from the adjustable addresses STAT (Page 104) and TU
(Page 108).
Requirement
Transformation TRANSMIT, RCTRA or ROBX is active.
Syntax
PTP / PTPG0 / PTPWOC
...
CP
Meaning
PTP: Activating point-to-point motion PTP

The programmed Cartesian position in G0 and G1 blocks is approached with synchro‐
nous axis motion.
PTPG0: Activating point-to-point motion PTPG0
Only in G0 blocks is the programmed Cartesian position approached with synchronous
axis motion. In G1 blocks, a switchover is made to CP path motion.
PTPWOC: Activate point-to-point movement PTPWOC (only possible if orientation transformation
is active)
CP: Deactivating point-to-point motion and activating path motion CP
Cartesian path motion is executed with CP.
Note
PTPWOC
It does not make any sense to use PTPWOC in combination with a RCTRA or ROBX
transformation!
Transformations
Examples
See:
● Example 3: PTPG0 and TRANSMIT (Page 112)
2.6.3.2 Activating/deactivating Cartesian PTP travel (PTP, PTPG0, PTPWOC, CP)

The Cartesian point-to-point or PTP travel is activated/deactivated in the NC program using G
group 49 commands.
The commands are modal. The default setting is travel with Cartesian path motion (CP).
Contrary to CP, for active PTP travel, only the Cartesian target point is transformed, and the
machine axes are traversed in synchronism.
In order that the Cartesian target point can be uniquely converted into machine axis values, in
addition to position and angular data, information is also necessary that identifies the axis
positions. This data is retrieved from the adjustable addresses STAT (Page 104) andTU
(Page 108).
Precondition
Transformation TRAORI, TRANSMIT, RCTRA or ROBX is active.
Syntax
PTP / PTPG0 / PTPWOC
...
CP
Meaning
PTP: Activating point-to-point motion PTP

The programmed Cartesian position in G0 and G1 blocks is approached with synchro‐
nous axis motion.
PTPG0: Activating point-to-point motion PTPG0
Only in G0 blocks is the programmed Cartesian position approached with synchronous
axis motion. In G1 blocks, a switchover is made to CP path motion.
PTPWOC: Activate point-to-point movement PTPWOC (only possible if orientation transformation
is active)
CP: Deactivating point-to-point motion and activating path motion CP
Cartesian path motion is executed with CP.
Transformations
Note
PTPWOC
It does not make any sense to use PTPWOC in combination with a RCTRA or ROBX
transformation!
Examples
See:
● Example 1: PTP travel of a 6-axis robot with ROBX transformation (Page 111)
● Example 2: PTP travel for generic 5-axis transformation (Page 112)
● Example 3: PTPG0 and TRANSMIT (Page 112)
2.6.3.3 Specify the position of the joints (STAT)

Position data with Cartesian coordinates and specification of the tool orientation are not
sufficient to uniquely identify the machine position, as several joint positions are possible for the
same tool orientation. Depending on the kinematics involved, there can be as many as 8
different joint positions. These different joint positions are transformation-specific.
In an order to avoid any ambiguity, the joint positions are specified under the STAT address.
Note
The control takes into account programmed STAT values only for PTP motions. They are
ignored with CP motions because a change of position is not normally possible while traversing
with an active transformation. When traversing with active CP, the position for the target point
is taken from the starting point.
Syntax
STAT=<Value>
Meaning
STAT: Adjustable address to specify joint positions

<Value>: Binary or decimal value
Contains one bit for each possible position. The significance of the bits is defined by the
particular transformation.
The use of STAT is to be illustrated by the example of a 6-axis articulated robot with milling
spindle. The kinematic transformation is to be realized using the ROBX robot transformation
(precondition: Compile cycle "RMCC/ROBX Transformation Extended Robotics" is loaded and
active).
Transformations
$
$
$
$
$
$
Axes A1, A2 and A3 are the main axes of the articulated robot. The axes A4, A5 and A6, which
are also designated as head or hand/wrist axes, are positioned in the working area with the
main axes. The additional motion options of the hand/wrist axes enable the milling spindle to be
orientated in space as required for the particular machining task. Various articulated joint
positions are possible to achieve the same tool orientation.
The articulated joint positions required for machining are selected by programming bit 0 ... 2 of
the adjustable STAT address:
Bit 0 Position of the intersection points of the hand/wrist axes (A4, A5, A6)
=0 Basic range (shoulder right)
The robot is in the basic range if the X value
of the intersection point of the hand/wrist ax‐
es is positive in relation to to the A1 coordi‐
nate system.
=1 Overhead range (shoulder left)
The robot is in the overhead range if the X
value of the intersection point of the hand/
wrist axes is negative in relation to the A1
coordinate system.
%LW %LW
; ;
Example: The intersection point of

the hand/wrist axes lies in the basic
range
Transformations
Bit 1 Position of axis 3

The angle at which the value of bit 1 changes depends on the particular robot type. The
following applies to robots whose axes 3 and 4 intersect:
=0 A3 <0° (elbow down)
=1 A3 ≥0° (elbow up)
Note:
For robots with an offset between axes 3 and 4, the
angle at which the value of bit 1 changes depends on
the magnitude of this offset.
Offset between A3 and A4

Bit 2 Position of axis 5
=0 A5 ≥0° (no handflip)
=1 A5 <0° (handflip)
Program example:

...
N14 T="T8MILLD20" D1 ; $TC_DP3[1,1]=132.95
N16 ORIMKS
N17 G1 PTP X1665.67 Y0 Z1377.405 A=0 B=0 C=0 STAT=... F2000 ; The STAT value defines
the articulated joint
positions (see below)
...
STAT=1 ('B001') → Shoulder left =
→ Elbow down
→ No handflip
<
Transformations
STAT=2 ('B010') → Shoulder right =
→ Elbow up
→ No handflip
<
STAT=5 ('B101') → Shoulder left =
→ Elbow down
→ Handflip
<
STAT=6 ('B110') → Shoulder right =
→ Elbow up
→ Handflip
<
TRANSMIT
For TRANSMIT, the STAT address is used to initiate the equivocality regarding the pole.
Transformations
The following applies if the rotary axis must rotate through 180º or the contour for CP would go
through the pole:
Bit 0 Only relevant for $MC_TRANSMIT_POLE_SIDE_FIX_1/2 = 1 or 2:

=0 Rotary axis traverses through +180º or rotates clockwise.
=1 Rotary axis rotates through -180º or rotates counterclockwise.
Bit 1 Only relevant for $MC_TRANSMIT_POLE_SIDE_FIX_1/2 = 0:
=0 The axis traverses through the pole. The rotary axis does not rotate.
=1 The axis rotates around the pole. Bit 0 of STAT is relevant.
2.6.3.4 Specify the sign of the axis angle (TU)

In order that rotary axes can also approach axis angles exceeding +180° or less than -180°
without requiring a special traversing strategy (e.g. intermediate point), the sign of the axis
angle must be specified under the adjustable address TU.
Note
The control only takes into account programmed TU values for PTP motion. CP motion is
ignored.
Syntax
TU=<Value>
Meaning
TU: Adjustable address to specify axis angle signs

<Value>: Binary or decimal value
For each axis that is involved in the transformation, there is a bit that indicates the sign
of the axis angle (θ), and therefore the traversing direction.
Bit =0 Axis angle sign: + Axis angular range: 0° ≤ θ < 360°
=1 Axis angle sign: - Axis angular range: - 360° < θ < 0°
Example: 6-axis articulated robot
Transformations
$
$
$
$
$
$
Bit Meaning Value Axis angle Axis angle

sign
Bit 0 1) Sign for the axis angle of A1 =0 + ≥ 0°
=1 - < 0°
Bit 1 1)
Sign for the axis angle of A2 =0 + ≥ 0°
=1 - < 0°
=1 - < 0°
=1 - < 0°
Bit 4 1)
=1 - < 0°
Bit 5 1)
=1 - < 0°
1)
The actual TU bit numbers obtained from the channel axis numbers of the robot axes! In the example,
robot axes (A1 to A6) are the first six axes in the channel; as a consequence, TU bits 0 ... 5 are used.
For another channel axis assignment of the robot axes, the TU bit numbers of the robot axes would
correspondingly change (e.g.: robot axes are the 3rd to 8th channel axis, i.e. TU bits 2 ... 7 are used
for the robot axes).
TU=19 (corresponds to TU='B010011) would therefore signify:
Bit Value Axis angle

0 =1 ① θA1 < 0°
1 =1 ① θA2 < 0°
Transformations
2 =0 ① θA3 ≥ 0°
3 =0 ① θA4 ≥ 0°
4 =1 ① θA5 < 0°
5 =0 ① θA6 ≥ 0°
Note
In the case of axes with a traversing range > ±360°, the axis always moves along the shortest
path because the axis position cannot be specified uniquely by the TU information.
If no TU is programmed for a position, then depending on MD30455
$MA_MISC_FUNCTION_MASK, the shorter or longer path is traversed (see Chapter "Taking
into account the software limits for PTP travel (Page 100)" in the Extended Functions Function
Manual).
TRANSMIT
For PTP travel with TRANSMIT active, the address of TU has no meaning!
Example
The rotary axis position shown in the following diagram can be approached in the negative or
positive direction. The angular position is programmed under address A1. The traversing
direction is only absolutely clear when TU is specified.
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1HJDWLYHGLUHFWLRQ
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Transformations
2.6.3.5 Example 1: PTP travel of a 6-axis robot with ROBX transformation

In the following application example, Cartesian PTP travel and the associated NC commands
are shown in the form of an example.
<
Figure 2-18 6-axis articulated robot with milling spindle
N1 G90
N2 T=“T8MILLD20“ D1 M6
N3 TRAORI
;$P_UIFR[1]=CTRANS(X,1500,Y,0,Z,400):CROT(X,0,Y,0,Z,-90)
N4 G54
N5 M3 S20000
N6 ORIWKS
N7 ORIVIRT1
N8 CYCLE832(0.01,_FINISH,1)
;HOME
N9 TRAFOOF
N10 G0 RA1=0.0000 RA2=-90.0000 RA3=90.0000 A=0.0000 B=90.0000 C=0.0000
N11 TRAORI
N12 G54
N13 G0 PTP X1369.2426 Y956.7528 Z502.5517 A=135.5761 B=-33.2223
C=161.1435 STAT='B010' TU='B001011'
N14 G0 X1355.1242 Y1014.9394 Z424.9695 A=135.8491 B=-33.1439
C=160.9941 STAT='B010' TU='B001011'
N15 G1 CP X1354.8361 Y1016.1269 Z423.3862 A=136.0635 B=-33.0819 C=160.8770
F1000
N16 G1 X1336.4283 Y1016.1269 Z426.6311 A=136.0484 B=-32.2151 C=160.9643
F2000
N17 G1 X1317.9831 Y1016.1269 Z429.6730 A=136.0175 B=-31.3394 C=161.0655
;HOME
N18 TRAFOOF
N19 G0 RA1=0.0000 RA2=-90.0000 RA3=90.0000 A=0.0000 B=90.0000 C=0.0000
N20 M30
Transformations
2.6.3.6 Example 2: PTP travel for generic 5-axis transformation

Assumption: Right-angled CA kinematics used as basis.

TRAORI ;Transformation CA kinematics ON
PTP ; Activate PTP traversal
N10 A3=0 B3=0 C3=1 ; rotary axis positions C=0 A=0
N40 A3=1 B3=0 C3=1 STAT=1 ; rotary axis positions C=270 A=–45
Select clear approach position of rotary axis position:

In block N40, the rotary axes – as a result of the programming of STAT=1 – travel the longer
distance from their start point (C=90, A=90) to the end point (C=270, A=–45). On the other
hand, with STAT=0, the rotary axes would travel along the shortest path to the end point (C=90,
A=45).
2.6.3.7 Example 3: PTPG0 and TRANSMIT
Traversing around the pole with PTPG0 and TRANSMIT
<
PTP
CP
1*;<

1;<

;


N001 G0 X30 Z0 F10000 T1 D1 G90 ;Initial setting absolute dimension
N002 SPOS=0
N003 TRANSMIT ;TRANSMIT transformation
N010 PTPG0 ; for each G0 block, automatically PTP –
and then CP again.
N020 G0 X30 Y20
N030 X-30 Y-20
Transformations

N120 G1 X30 Y20
N110 X30 Y0
M30
Traversing from the pole with PTPG0 and TRANSMIT
<
PTP
CP 30
N070 X20 Y2 20
10 N060 X0 Y0
-30 -20 -10 10 20 30 ;
-10
-20
-30 N050 X10 Y0
Programming Comment
N001 G0 X90 Z0 F10000 T1 D1 G90 ;Initial setting
N002 SPOS=0
N003 TRANSMIT ;TRANSMIT transformation
N010 PTPG0 ; for each G0 block, automatically PTP –
and then CP again.
N020 G0 X90 Y60
N030 X-90 Y-60
N040 X-30 Y-20
N050 X10 Y0
N060 X0 Y0
N070 X-20 Y2
N170 G1 X0 Y0
N160 X10 Y0
N150 X-30 Y-20
M30
Transformations
2.6.4 Supplementary conditions
Tool radius compensation (TRC)

With PTP/PTPWOC, no tool radius compensation (TRC) can be active, because PTP/
PTPWOC creates contours other than those calculated by the TRC.
The response is different for PTPG0. Here, with active TRC, an internal switchover to CP takes
place so that the TRC is performed correctly.
Smooth approach and retraction (SAR)

If PTP/PTPWOC is active, SAR cannot be used, because SAR needs a contour to design the
approach and retraction and to be able to approach or retract tangentially.
With PTPG0, on the other hand, SAR is possible because the blocks required for SAR are
traversed with CP. The G0 blocks up to the actual approach contour are executed with PTP
travel and therefore quickly. The same applies to the retract blocks.
Chipping cycles
With active PTP/PTPWOC, chipping cycles such as CONTPRON or CONTDCON cannot be
applied because the chipping require a contour to be able to construct the cut segmentation.
With PTPG0, on the other hand, chipping cycles are possible because the blocks required for
the chipping cycles are traversed with CP.
Chamfer and rounding

Chamfer and rounding are ignored during PTP travel.
Axis overlay
An axis superimposing in the interpolation may not change during the PTP sequence. This
applies, for example, to LIFTFAST, fine tool offset, coupled motion TRAILON and tangential
follow-up TANGON.
NC block compression
In the PTP blocks, an active compressor function (COMPON, COMPCURV, COMPCAD or
COMPSURF) is automatically deselected.
Blending
Blending with G643 is not possible with the PTP travel. In the PTP blocks with an active G643,
there is an automatic switchover to G642.
Transformations
2.7 Cartesian manual traversing (option)
In addition, the following special features should be noted:

● Blending is always done in the machine coordinate system and it thus high-performance in
terms of time. The criteria for G642 is always interpreted in the machine coordinate system
and not as usual in the Cartesian basic coordinate system.
● Smoothing G641 is determined as a function of the fictitious path calculated from the
machine axis coordinates.
Path feedrate
An F value input with G1 refers to the fictitious path calculated from the machine axis
coordinates.
Mode change
Cartesian PTP travel only makes sense in the modes AUTOMATIC and MDI.
When changing the mode to JOG, the current setting is retained:
● If PTP travel is set, the axes will traverse in MCS.
● If CP is set, the axes will traverse in WCS.
After returning to the AUTOMATIC or MDI mode, the status that was active before the switch
to JOG mode is restored.
Block search
If the face end transformation (TRANSMIT) is active, different machine axis positions for the
same Cartesian position can result if a program section is executed with block search.
REPOS
The setting for Cartesian PTP travel is not altered during repositioning. If PTP was set in the
interruption block, then repositioning also takes place with PTP.
Note
The "Handling transformation package" option is necessary for the "Cartesian manual travel"
function.
Transformations
Function
The "Cartesian manual travel" function, as a reference system for JOG mode, allows axes to
be set independently of each other in the following Cartesian coordinate systems:
● Basic coordinate system (BCS)
● Workpiece coordinate system (WCS)
● Tool coordinate system (TCS)
Adjustment and activation is done using machine data:
MD21106 $MC_CART_JOG_SYSTEM (coordinate systems for Cartesian JOG)
Bit Meaning
0 Basic coordinate system
1 Workpiece coordinate system
2 Tool coordinate system
Note
The workpiece coordinate system has been shifted and rotated compared to the basic
coordinate system via frames.
Further information:
Function Manual Basic Functions; Axes, coordinate systems, frames
Representation of the reference points in the coordinate system:
Workpiece zero Tool carrier reference point
Selecting reference systems

For JOG motion, one of the three reference systems can be specified separately not only for
the translation (coarse offset) with geometry axes, but also for the orientation with orientation
axes via the following setting data:
SD42650 $SC_CART_JOG_MODE
If more than one bit is set for the translation or orientation reference system, or when an attempt
is made to set a reference system which was not released by the MD21106
$MC_CART_JOG_SYSTEM, the alarm 14148 "Reference system for Cartesian manual travel
not allowed" will be generated.
Translation
A translation movement can be used to move the tool center point (TCP) in parallel and 3-
dimensional to the axes of the reference system. The traversing movement is made via the VDI
signals of the geometry axes.
Transformations
Machine data MD24120$MC_TRAFO_GEOAX_ASSIGN_TAB_x[n] is used to assign the

geometry axes. Simultaneous traversing in more than one direction permits the execution of
movements that lie parallel to the directions of the reference system.
Translation in the BCS

The basic coordinate system (BCS) describes the Cartesian zero of the machine.
= <
<
;
; =
<
%.6 <
;
=
① Starting position
② End position
Figure 2-19 Cartesian manual travel in the basic coordinate system (translation)
Transformations
Translation in the WCS

The workpiece coordinate system (WCS) lies in the workpiece zero. The workpiece coordinate
system can be shifted and rotated relative to the basic coordinate system via frames. As long
as no frame rotation is active, traversing motion corresponds to the translation of motion in the
basic coordinate system.
= <
<
;
; =
<
:.6 <
;

=
① Workpiece
Figure 2-20 Cartesian manual travel in the workpiece coordinate system (translation)
Transformations
Translation in the TCS

The tool coordinate system (TCS) is at the tool center point. Its direction depends on the current
setting of the machine, since the tool coordinate system moves during the motion.

= <
<
<
;

=
:.6
%.6
;
① Starting position
② Frame
③ Workpiece
④ End position
Figure 2-21 Cartesian manual travel in the tool coordinate system (translation)
Translation and orientation simultaneously in the TCS

If translation and orientation movements are executed at the same time, the translation is
always traversed corresponding to the current orientation of the tool. This permits infeed
movements that are made directly in the tool direction or movements that run perpendicular to
tool direction.
Orientation
The tool can be aligned to the component surface via an orientation movement. The orientation
movement is given control from the PLC via the VDI signals of the orientation axes (DB21, ...
DBB321).
Several orientation axes can be traversed simultaneously. The virtual orientation axes execute
rotations around the fixed axes of the relevant reference system.
The rotations are identified according to the RPY angles.
● A angle: Rotation around the Z axis
● B angle: Rotation around the Y axis
● C angle: Rotation around the X axis
Programming rotations:
Transformations
The user can define how rotations are to be executed using the current G commands of group
50 for orientation definition
Specifying ORIEULER, ORIRPY, ORIVIRT1 and ORIVIRT2.
With ORIVIRT1, rotation is executed according to MD21120 $MC_ORIAX_TURN_TAB_1. The
orientation axes are assigned to the channel axes via machine data: MD24585
$MC_TRAFO5_ORIAX_ASSIGN_TAB_1.
The direction of rotation is determined according to the "right hand rule". The thumb points in
the direction of the rotary axis. The finger stipulates the positive direction of rotation.
Orientation in the WCS

The rotations are made around the defined directions of the workpiece coordinate system. If
frame rotation is active, the movements correspond to the rotations in the basic coordinate
system.
Orientation in the BCS

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

$
;7.6
%.6
① Start orientation
② End orientation
Figure 2-22 Cartesian manual travel in the basic coordinate system, orientation angle A
Transformations
<
%
;7.6
%.6

;
② End orientation
Figure 2-23 Cartesian manual travel in the basic coordinate system, orientation angle B
<

;7.6
&
%.6

;
② End orientation
Figure 2-24 Cartesian manual travel in the basic coordinate system, orientation angle C
Transformations
Orientation in the TCS

The rotations are around the moving directions in the tool coordinate system. The current
homing directions of the tool are always used as rotary axes.
$
=
;
<
Figure 2-25 Cartesian manual travel in the tool coordinate system, orientation angle A
Transformations
<
; =
Figure 2-26 Cartesian manual travel in the tool coordinate system, orientation angle B
Transformations
<
&
Figure 2-27 Cartesian manual travel in the tool coordinate system, orientation angle C
Boundary conditions
The "Cartesian manual travel" function can only be executed if the transformation is active in
the NC: DB21, ... DBX33.6 == 1 ("transformation active")
The following supplementary conditions must be observed:
● "Handling transformation package" option with 5-axis or 6-axis transformation is set
● Virtual orientation axes must be defined via the following machine data:
MD24585 $MC_TRAFO5_ORIAX_ASSIGN_TAB_1[n]
● DB21, ... DBX29.4 == 0 (activate PTP travel)
● MD21106 $MC_CART_JOG_SYSTEM > 0
Table 2-2 Conditions for Cartesian manual travel
Transformation in pro‐ Prog. traversing type DB21, ... DBX29.4 DB21, ... DBX33.6
gram active (TRAORI..) "Activate PTP travel" "Transformation active"
FALSE Not active Not active 0
TRUE CP 0 1
TRUE CP 1 0
Transformations
Transformation in pro‐ Prog. traversing type DB21, ... DBX29.4 DB21, ... DBX33.6
gram active (TRAORI..) "Activate PTP travel" "Transformation active"
TRUE PTP 0 1
TRUE PTP 1 0
The G command PTP/CP currently active in the program does not affect Cartesian manual
travel. The NC/PLC interface signals are interpreted in the channel DB for geometry and
orientation axes.
Activation
The reference system for Cartesian manual travel is set as follows:
● The Cartesian manual travel function is activated with the following machine data:
MD21106 $MC_CART_JOG_SYSTEM > 0
The BCS, WCS or TCS reference systems are enabled via MD21106
$MC_CART_JOG_SYSTEM.
● JOG traverse motion via SD42650 SC_CART_JOG_MODE
Standard behavior as before: Bits 0 to 2 = 0, bits 8 to 10 = 0.
Reference system for translation via bits 0-2 and the reference system for orientation via bits
8-10.
If not all of the bits are set to 0, the process uses the new function. The reference systems
for translation and orientation may be set independently.
SD42650 $SC_CART_JOG_MODE (only set one bit):
SD42650 $SC_CART_JOG_MODE
Bit 11 - Bit 10 Bit 9 Bit 8 Bit 7 - Bit 2 Bit 1 Bit 0
bit 15 bit 3
Reserved Orienta‐ Orienta‐ Orienta‐ Reserved Transla‐ Transla‐ Transla‐
tion in the tion in the tion in the tion in the tion in the tion in the
TCS WCS BCS TCS WCS BCS
Combining reference systems

The table below shows all the combination options for reference systems.
SD42650 $SC_CART_JOG_MODE Reference system for

Bit 10 Bit 9 Bit 8 Bit 2 Bit 1 Bit 0 Orientation Translation
0 0 0 0/1 0/1 0/1 Standard Standard
Standard Standard Standard 0 0 0 Standard Standard
0 0 1 0 0 1 BCS BCS
0 0 1 0 1 0 BCS WCS
0 0 1 1 0 0 BCS TCS
0 1 0 0 0 1 WCS BCS
0 1 0 0 1 0 WCS WCS
0 1 0 1 0 0 WCS TCS
1 0 0 0 0 1 TCS BCS
Transformations
2.8 Activating transformation machine data via part program/softkey
SD42650 $SC_CART_JOG_MODE Reference system for

1 0 0 0 1 0 TCS WCS
1 0 0 1 0 0 TCS TCS
2.8.1 Function
Transformation MD can now be activated by means of a program command softkey, i.e. these
can, for example, be written from the parts program, thus altering the transformation
configuration completely.
Up to ten different transformations can be set in the control system. The transformation type is
set in the following machine data:
MD24100 $MC_TRAFO_TYPE_1
up to
MD24460 $MC_TRAFO_TYPE_10.
Characteristics
The transformation MDs are activated using the "Setting machine data effective".
The protection level is now 7/7 (KEYSWITCH_0), which means that data can be modified from
the NC program without any particular authorization.
If the machine data are activated (regardless whether via the NEWCONF NC program
command, the HMI or implicitly following reset or end of program) - and no transformation has
been selected (activated) - then the machine data listed above can be altered without restriction
and then activated.
Of particular relevance is that new transformations can be configured or existing
transformations replaced by one of a different type or deleted, since the modification options
are not restricted to re-parameterization of existing transformations.
2.8.2 Constraints
Changing machine data

The machine data which involve an active transformation may not be altered; any attempt to do
so will generate an alarm.
Generally, these are all machine data, which are assigned a transformation via the associated
transformation data group. Machine data, which although contained in the group of an active
transformation, but are not used, can be changed (however, this could hardly be considered an
operation that makes sense). For example, it would be possible to change machine data
Transformations
MD24564 $MC_TRAFO5_NUTATOR_AX_ANGLE_n for an active transformation with

MD24100 $MC_$MC_TRAFO_TYPE = 16 (5-axis transformation with rotatable tool and two
mutually perpendicular rotary axes A and B) since this particular machine data is not involved
in the transformation.
Please note that machine data MD21110 $MC_X_AXIS_IN_OLD_X_Z_PLANE may not be
altered for an active orientation transformation.
Note
For a program interruption (Repos, delete distance to go, ASUPs etc.) to restart, several blocks
are also required in the control, which were already executed. That it is prohibited to change
machine data of an active transformation also refers to these blocks.
Example:
Two orientation transformations are set via machine data, e.g. MD24100
$MC_TRAFO_TYPE_1 = 16, MD24200 $MC_TRAFO_TYPE_2 = 18.
When executing "Activate machine data", it is assumed that the second transformation is
active. In this case, all machine data that relate only to the first transformation may be changed,
e.g.:
MD24500 $MC_TRAFO5_PART_OFFSET_1
but not, for instance:
MD24650 $MC_TRAFO5_BASE_TOOL_2
or
MD21110 $MC_X_AXIS_IN_OLD_X_Z_PLANE
Furthermore, another transformation (TRANSMIT) can be set, for example with MD24300
$MC_TRAFO_TYPE_3 = 256 and can be parameterized with additional machine data.
Defining geometry axes

Geometry axes must be defined before the control system powers up using the following
machine data:
MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_X[n]
or
MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB[n]
Changing the assignment

The assignment of a transformation data set to a transformation is determined by the sequence
of entries in MD24100 $MC_TRAFO_TYPE_X. The first entry in the table is assigned to the first
transformation data set, and accordingly the second entry to the second data set. It is not
permissible (and not possible) to change this assignment for an active transformation.
Example:
Three transformations are set. two orientation transformations and one transmit
transformation, e.g.
Transformations
; orientation transformation 1: Orientation transformation data set
MD24200 $MC_TRAFO_TYPE_2 = 256 : Transmit transformations
; orientation transformation 2: Orientation transformation data set
The first data set for orientation transformations is assigned to the first transformation (at the
same time, the first orientation transformation) - and the second transformation data set to the
third transformation (at the same time, the the second orientation transformation).
If the third transformation is active when executing the "Activate machine data" function, then
it is not permissible to change the first transformation into a transformation of another group
(e.g. TRACYL) since, in this case, the third transformation would then not become the second
orientation transformation, but the first.
In the above example, however, it is permissible to set another orientation transformation for
the first transformation (e.g. using MD24100 $MC_TRAFO_TYPE_1 = 32) or a transformation
from another group as the first transformation (e.g. using $MD24100 $MC_TRAFO_TYPE_1 =
1024, TRAANG), if the second transformation is changed into an orientation transformation at
the same time, e.g. with MD24200 $MC_TRAFO_TYPE_2 = 48.
2.8.3 Control response to power ON, mode change, RESET, block search, REPOS
With the aid of the following machine data it is possible to select a transformation automatically
in response to RESET (i.e. at end of program as well) and/or on program start:
MD20110 $MC_RESET_MODE_MASK
MD20112 $MC_START_MODE_MASK
and
MD20140 $MC_TRAFO_RESET_VALUE
This may result in the generation of an alarm, for example, at the end or start of a program, if
the machine data of an active transformation has been altered.
To avoid this problem when re-configuring transformations via an NC program, we therefore
recommend that NC programs are structured as follows:

N10 TRAFOOF() ; Select a possibly still active trans-
formation
N20$MC_TRAFO5_BASE_TOOL_1[0]=0 ; Enter machine data
N30$MC_TRAFO5_BASE_TOOL_1[0]=3
N40$MC_TRAFO5_BASE_TOOL_1[0]=200
N130 NEWCONF ; Newly entered machine data
; Transfer
N140 M30
Transformations
2.8.4 List of machine data affected

The machine data that can be activated are listed below.
All transformations
Machine data which are relevant for all transformations:
● MD24100 $MC_TRAFO_TYPE_1 to MD24480 $MC_TRAFO_TYPE_10
● MD24110 $MC_TRAFO_AXES_IN_1 to MD24482 $MC_TRAFO_AXES_IN_10
● MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1 to
MD24484 $MC_TRAFO_GEOAX_ASSIGN_TAB_10
Orientation transformations
Machine data that are relevant for orientation transformations:
● MD24550 $MC_TRAFO5_BASE_TOOL_1 and
MD24650 $MC_TRAFO5_BASE_TOOL_2
● MD24558 $MC_TRAFO5_JOINT_OFFSET_1 and
MD24658 $MC_TRAFO5_JOINT_OFFSET_2
● MD24500 $MC_TRAFO5_PART_OFFSET_1 and
MD24600 $MC_TRAFO5_PART_OFFSET_2
● MD24510 $MC_TRAFO5_ROT_AX_OFFSET_1 and
MD24610 $MC_TRAFO5_ROT_AX_OFFSET_2
● MD24520 $MC_TRAFO5_ROT_SIGN_IS_PLUS_1 and
MD24620 $MC_TRAFO5_ROT_SIGN_IS_PLUS_2
● MD 24530: TRAFO5_NON_POLE_LIMIT_1 and
MD24630 $MC_TRAFO5_NON_POLE_LIMIT_2
● MD24540 $MC_TRAFO5_POLE_LIMIT_1 and
MD24640 $MC_TRAFO5_POLE_LIMIT_2
● MD24570 $MC_TRAFO5_AXIS1_1 and
MD24670 $MC_TRAFO5_AXIS1_2
● MD24572 $MC_RAFO5_AXIS2_1 and
MD24672 $MC_TRAFO5_AXIS2_2
● MD24574 $MC_TRAFO5_BASE_ORIENT_1 and
MD24674 $MC_TRAFO5_BASE_ORIENT_2
● MD24562 $MC_TRAFO5_TOOL_ROT_AX_OFFSET_1 and
MD24662 $MC_TRAFO5_TOOL_ROT_AX_OFFSET_2
● MD24564 $MC_TRAFO5_NUTATOR_AX_ANGLE_1 and
MD24664 $MC_TRAFO5_NUTATOR_AX_ANGLE_2
● MD24566 $MC_TRAFO5_NUTATOR_VIRT_ORIAX_1 and
MD24666 $MC_TRAFO5_NUTATOR_VIRT_ORIAX_2
Transformations
Transmit transformations
Machine data that are relevant for transmit transformations:
● MD24920 $MC_TRANSMIT_BASE_TOOL_1 and
MD24970 $MC_TRANSMIT_BASE_TOOL_2
● MD24900 $MC_TRANSMIT_ROT_AX_OFFSET_1 and
MD24950 $MC_TRANSMIT_ROT_AX_OFFSET_2
● MD24910 $MC_TRANSMIT_ROT_SIGN_IS_PLUS_1 and
MD24960 $MC_TRANSMIT_ROT_SIGN_IS_PLUS_2
● MD24911 MC_RANSMIT_POLE_SIDE_FIX_1 and
Tracyl transformations
Machine data that are relevant for Tracyl transformations:
● MD24820 $MC_TRACYL_BASE_TOOL_1 and
MD24870 $MC_TRACYL_BASE_TOOL_2
● MD24800 $MC_TRACYL_ROT_AX_OFFSET_1 and
MD24850 $MC_TRACYL_ROT_AX_OFFSET_2
● MD24810 $MC_TRACYL_ROT_SIGN_IS_PLUS_1 and
MD24870 $MC_TRACYL_ROT_SIGN_IS_PLUS_2
● MD24808 $MC_TRACYL_DEFAULT_MODE_1 and
MD24858 $MC_TRACYL_DEFAULT_MODE_2
Inclined axis transformations

Machine data that are relevant for inclined axis transformations:
● MD24710 $MC_TRAANG_BASE_TOOL_1 and
MD24760 $MC_TRAANG_BASE_TOOL_2
● MD24700 $MC_TRAANG_ANGLE_1 and
MD24750 $MC_TRAANG_ANGLE_2
● MD24720 $MC_TRAANG_PARALLEL_VELO_RES_1 and
MD24770 $MC_TRAANG_PARALLEL_VELO_RES_2
● MD24721 $MC_TRAANG_PARALLEL_ACCEL_RES_1 and
MD24771 $MC_TRAANG_PARALLEL_ACCEL_RES_2
Chained transformations
Machine data that are relevant for chained transformations:
● MD24995 $MC_TRACON_CHAIN_1 and
MD24996 $MC_TRACON_CHAIN_2
● MD24997 $MC_TRACON_CHAIN_3 and
MD24998 $MC_TRACON_CHAIN_4
Transformations
Persistent transformation
Machine data that are relevant for persistent transformations:
● MD20144 $MC_TRAFO_MODE_MASK
● MD20140 $MC_TRAFO_RESET_VALUE
● MD20110 $MC_RESET_MODE_MASK and
MD20112 $MC_START_MODE_MASK
Not transformation-specific
Machine data that are not transformation-specific. They are not uniquely assigned to a specific
transformation data set - or are also of significance outside an active transformation:
● MD21110 $MC_X_AXIS_IN_OLD_X_Z_PLANE
● MD21090 $MC_ MAX_LEAD_ANGLE
● MD21092 $MC_ MAX_TILT_ANGLE
● MD21100 $MC_ORIENTATION_IS_EULER
2.8.5 Example
It would be permissible in the following example to reconfigure (write) a machine data affecting
the second transformation (e.g. MD24650 $MC_TRAFO5_BASE_TOOL_2[2]) in block N90,
since writing a machine data alone does not activate it. However, if the program remained
otherwise unchanged, an alarm would occur in block N130, because an attempt would then be
made to modify an active transformation.
Example program:

N40 TRAORI(2) ; Select 2nd orientation transformation
N50 X0 Y0 Z0 F20000 T1 T1
N60 A50 B50
N70 A0 B0
N80 X10
N90 $MC_TRAFO5_BASE_TOOL_1[2] = 50 ; Overwrite a machine data item of the
1st orientation transformation
N100 A20
N110 X20
N120 X0
N130 NEWCONF ; Accept new machine data
N140 TRAORI(1) ; Selection of the 1st orientation
transformation MD is effective
N150 G19 X0 Y0 Z0
N160 A50 B50
N170 A0 B0
N180 TRAFOOF
Transformations
2.9 Data lists

N190 M30
2.9 Data lists
2.9.1 Machine data
2.9.1.1 TRANSMIT
Channelspecific machine data
Number Identifier: $MC_ Description

20110 RESET_MODE_MASK Definition of control basic setting after run-up and RESET/part
program end
20140 TRAFO_RESET_VALUE Basic transformation position
22534 TRAFO_CHANGE_M_CODE M code for transformation changeover
24100 TRAFO_TYPE_1 Definition of the 1st transformation in channel
24110 TRAFO_AXES_IN_1 Axis assignment for the 1st transformation
24120 TRAFO_GEOAX_ASSIGN_TAB_1 Geo-axis assignment for 1st transformation
24200 TRAFO_TYPE_2 Definition of the 2nd transformation in channel
24210 TRAFO_AXES_IN_2 Axis assignment for the 2nd transformation
24220 TRAFO_GEOAX_ASSIGN_TAB_2 Geo-axis assignment for 2nd transformation
24300 TRAFO_TYPE_3 Definition of the 3rd transformation in channel
24310 TRAFO_AXES_IN_3 Axis assignment for the 3rd transformation
24320 TRAFO_GEOAX_ASSIGN_TAB_3 Geo-axis assignment for 3rd transformation
24400 TRAFO_TYPE_4 Definition of the 4th transformation in channel
24410 TRAFO_AXES_IN_4 Axis assignment for the 4th transformation
24420 TRAFO_GEOAX_ASSIGN_TAB_4 Geo-axis assignment for 4th transformation
Transformations
2.9 Data lists

24900 TRANSMIT_ROT_AX_OFFSET_1 Deviation of rotary axis from zero position in degrees (1st
TRANSMIT)
24910 TRANSMIT_ROT_SIGN_IS_PLUS_1 Sign of rotary axis for TRANSMIT (1st TRANSMIT)
24911 TRANSMIT_POLE_SIDE_FIX_1 Limitation of working range in front of/behind pole, 1st trans‐
formation
24920 TRANSMIT_BASE_TOOL_1 Distance of tool zero point from origin of geo-axes (1st
TRANSMIT)
24950 TRANSMIT_ROT_AX_OFFSET_2 Deviation of rotary axis from zero position in degrees (2nd
TRANSMIT)
24960 TRANSMIT_ROT_SIGN_IS_PLUS_2 Sign of rotary axis for TRANSMIT (2nd TRANSMIT)
24961 TRANSMIT_POLE_SIDE_FIX_2 Limitation of working range in front of/behind pole, 2nd trans‐
formation
24970 TRANSMIT_BASE_TOOL_2 Distance of tool zero point from origin of geo-axes (2nd
TRANSMIT)
2.9.1.2 TRACYL

program end
20144 TRAFO_MODE_MASK Selection of the kinematic transformation function
24130 TRAFO_INCLUDES_TOOL_1 Tool handling with active transformation 1.
Transformations
2.9 Data lists

24444 TRAFO_GEOAX_ASSIGN_TAB_6 Assignment geometry axes for 6th transformation
24800 TRACYL_ROT_AX_OFFSET_1 Deviation of rotary axis from zero position in degrees (1st
TRACYL)
24808 TRACYL_DEFAULT_MODE_1 Selection of TRACYL mode (1st TRACYL)
24810 TRACYL_ROT_SIGN_IS_PLUS_1 Sign of rotary axis for TRACYL (1st TRACYL)
24820 TRACYL_BASE_TOOL_1 Distance of tool zero point from origin of geo-axes (1st TRAC‐
YL)
24850 TRACYL_ROT_AX_OFFSET_2 Deviation of rotary axis from zero position in degrees (2nd
TRACYL)
24858 TRACYL_DEFAULT_MODE_2 Selection of TRACYL mode (2nd TRACYL)
24860 TRACYL_ROT_SIGN_IS_PLUS_2 Sign of rotary axis for TRACYL (2nd TRACYL)
24870 TRACYL_BASE_TOOL_2 Distance of tool zero point from origin of geo-axes (2nd TRAC‐
YL)
Transformations
2.9 Data lists
2.9.1.3 TRAANG

program end
20144 RAFO_MODE_MASK Selection of the kinematic transformation function
24700 TRAANG_ANGLE_1 Angle of inclined axis in degrees (1st TRAANG)
24710 TRAANG_BASE_TOOL_1 Distance of tool zero point from origin of geometry axes (1st
TRAANG)
24720 TRAANG_PARALLEL_VELO_RES_1 Velocity reserve of parallel axis for compensatory motion (1st
TRAANG)
24721 TRAANG_PARALLEL_VELO_RES_2 Velocity reserve of parallel axis for compensatory motion (2nd
TRAANG)
24750 TRAANG_ANGLE_2 Angle of inclined axis in degrees (2nd TRAANG)
Transformations
2.9 Data lists

24760 TRAANG_BASE_TOOL_2 Distance of tool zero point from origin of geometry axes (2nd
TRAANG)
24770 TRAANG_PARALLEL_ACCEL_RES_1 Axis acceleration reserve of parallel axis for compensatory
motion (1st TRAANG)
24771 TRAANG_PARALLEL_ACCEL_RES_2 Axis acceleration reserve of parallel axis for compensatory
motion (2nd TRAANG)
2.9.1.4 Chained transformations

24995 TRACON_CHAIN_1 Transformation chain of the first chained transformation
24996 TRACON_CHAIN_2 Transformation chain of the second chained transformation
24997 TRACON_CHAIN_3 Transformation chain of the third chained transformation
24998 TRACON_CHAIN_4 Transformation chain of the fourth chained transformation
2.9.1.5 Non transformation-specific machine data

21110 X_AXIS_IN_OLD_X_Z_PLANE Coordinate system for automatic Frame definition
21090 MAX_LEAD_ANGLE Maximum permissible lead angle for orientation programming
21092 MAX_TILT_ANGLE Maximum permissible side angle for orientation programming
21100 ORIENTATION_IS_EULER Angle definition for orientation programming
Transformations
F2: Multi-axis transformations 3
3.1 Brief description
3.1.1 General specifications

Transformation data set
A transformation is defined with a specific number of machine data. All machine data of a
transformation data set are marked using the same prefix <x>. With <x> = 1, 2, 3, ... maximum
number of possible transformations in the channel.
Example based on the transformation type of a transformation: MD24100
$MC_TRAFO_TYPE_<x>
● Transformation type of the first transformation: MD24100 $MC_TRAFO_TYPE_1
● Transformation type of the second transformation: MD24100 $MC_TRAFO_TYPE_2
● ...
Axis names
While a transformation is active, the channel, geometry and machine axis names within a
channel must be different.
3.1.2 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.
Transformations
F2: Multi-axis transformations
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.
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
Transformations
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.
3.1.3 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 3-1 Schematic diagram of 3-axis transformation
Transformations
=
=
<
<
Figure 3-2 Schematic diagram of a 4-axis transformation with moveable workpiece
3.1.4 Orientation transformation with a swiveling linear axis.
Function
The orientation transformation with swiveling 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.
Transformations

$
%

① Linear axis 1 (X)

② Linear axis 2 (Y)
③ Swiveling linear axis 3 (Z)
Figure 3-3 Schematic diagram of a machine with swiveling linear axis
Transformations
3.1.5 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)
$ಿ
& 7RROD[LV
Figure 3-4 Schematic diagram of a machine tool with universal milling head
Transformations
3.1.6 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
3.1.7 Cartesian manual travel
Function
The "Cartesian manual travel" function allows the reference system for JOG motion to be
selected for one of the following coordinate systems (for both translation and orientation as):
Transformations
3.1.8 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.
3.1.9 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.
3.1.10 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.
3.1.11 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 part program / softkey and it is not
necessary to boot the control system.
References:
Function Manual, Extended Functions; Kinematic Transformations (M1),
Section: Cartesian PTP travel
Transformations
3.2 5-axis transformation
See also
Cartesian PTP travel (Page 97)
3.1.12 Orientation compression

During the execution of NC programs containing blocks with relatively short traverse paths, the
interpolator clock cycle 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.
3.2.1 Kinematic transformation
Task of orientation transformation

The task of orientation transformation is to compensate movements of the tool nose, which
result from changes in orientation, by means of appropriate compensating movements of the
geometry axes. The orientation movement is therefore decoupled from the movement on the
workpiece contour. Various machine kinematics each require their own orientation
transformation.
Fields of application
The "5-axis transformation" machining package is provided for machine tools, which have two
additional rotary axes (rotation about the linear axes) in addition to 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 every point of the machining space.
The workpiece is always programmed in the rectangular workpiece coordinate system; any
programmed or set frames rotate and shift this system in relation to the basic system. The
kinematic transformation then converts this information into motion commands of the real
machine axes.
Transformations
The kinematic transformation requires information about the design (kinematics) of the
machine, which are stored in machine data.
The kinematic transformation does not act on positioning axes.
3.2.2 Machine types for 5-axis transformation

Depending on the orientation capability of tool and workpiece, machines are classified
according to machine types 1, 2 and 3.
<
&
<
$ %
= =
<
& &

Figure 3-5 Machine types 5-axis transformation
Transformations
Machine types
Number Swivel head workpiece table Machine type Tool

① Rotary axes A and C fixed Two-axis swivel head with the axis ar‐ Orientable
rangement CA
② Rotary axis B Rotary axis C Single-axis swivel head and single-axis ro‐ Orientable tool and
tary table with the axis sequence BC workpiece
③ fixed Rotary axes A and C Two-axis rotary table with the axis arrange‐ Workpiece that can be
ment AC oriented
Common properties of machine types 1, 2 and 3

● The three linear axes form a right-handed, Cartesian coordinate system.
● The rotary axes are orientated parallel to the linear axes
● The orientation of the rotary axes are vertical, on one another.
● The tool initial state is in the negative Z direction.
Other properties of machine types 1 and 2

● Rotary axis 1 is the 4th machine axis of the transformation
● Rotary axis 1 changes the orientation of rotary axis 2
● Rotary axis 2 does not change the orientation of rotary axis 1
Other properties of machine type 3

● Rotary axis 1 rotates the tool
● Rotary axis 2 rotates the workpiece
Note
Transformations not in accordance with the conditions mentioned here are described in their
own sections
3.2.3 Configuration of a machine for 5-axis transformation
Maximum number of 5-axis transformations per channel

Currently, no more than four 5-axis transformations can be parameterized per channel
Transformation type
The transformation type that is dependent on the machine type is set in machine data:
Transformations
MD24100 $MC_TRAFO_TYPE_<x> = <transformation type>

where x = 1, 2, ... maximum number of transformations
Axis se‐ Machine type 1 Machine type 2 Machine type 3

quence of the (tool that can be swiveled/ (workpiece that can be (tool/workpiece that can be
machine rotated) swiveled/rotated) swiveled/rotated)
Transformation type Transformation type Transformation type
AB 16 32 48
AC --- 1) 33 49
BA 18 34 50
BC --- 1) 35 51
CA 20 --- 1) --- 1)
CB 21 --- 1) --- 1)
1)
Not a practical combination, as a rotation of the C axis would only correspond to a rotation of the tool
around its own longitudinal axis (symmetrical axis).
Identifying the axis sequence

The axis sequence is identified in the following way:
● AB means: A is 4th axis, B is 5th axis of the transformation
● For machine type 3, the swivel axis of the tool is the 4th axis of the transformation and the
rotary axis of the workpiece is the 5th axis of the transformation.
Axis assignment
In the machine data, the axis assignment at the input of the 5-axis transformation defines which
axis will be mapped by the transformation to which channel axis:
MD24110 $MC_TRAFO_AXES_IN_<x> (axis assignment for transformation x)
where x = 1, 2, ... maximum number of transformations
Transformations
Geometry information
Information concerning machine geometry is required so that the 5-axis transformation can
calculate axis values: This information is stored in the machine data (in this case, for the first
transformation in the channel):
● $MC_TRAFO5_PART_OFFSET_<x> (workpiece-oriented offset)
where x = 1, 2, ... maximum number of transformations in the channel
– Machine type 1:
Vector from machine reference point to table zero point (generally, the zero vector)
– Machine type 2:
Vector components from the last rotating joint of the table to the zero point of the table ①.
&

Figure 3-6 Machine data $MC_TRAFO5_PART_OFFSET_1 for machine type 2
– Machine type 3 (single-axis swivel head and single-axis rotary table)

Vector from joint of rotary table to zero point of table
● $MC_TRAFO5_JOINT_OFFSET_<x> (vector of kinematic offset)
– Machine type 1 and 2:
Vector from the first to the second swivel joint
– Machine type 3:
Vector from machine zero point to the swivel joint of the table
● $MC_TRAFO5_ROT_AX_OFFSET_<x> (position offset of rotary axes 1 / 2 / 3)
Transformations
Examples
&
$ MR $
&
WR WR
W W
PR PR
[ [
= SR SR

;
① Machine zero
② Zero point tool table
mo Position vector in MCS
po $MC_TRAFO5_PART_OFFSET_<x>[0 ..2]
x Vector of programmed position in BCS
t Tool correction vector
to $MC_TRAFO5_BASE_TOOL_<x>[0 .. 2]
jo MD24560 $MC_TRAFO5_JOINT_OFFSET_<x>[0 .. 2]
Figure 3-7 Schematic diagram of CA kinematics, moved tool
Transformations
WR
W
WR PR
W [
PR
%
= SR
& %
PR

& MR
;
① Machine zero
jo $MC_TRAFO5_JOINT_OFFSET_<x>[0 .. 2]
Figure 3-8 Schematic diagram of CB kinematics, moved workpiece
Transformations
$ WR
W
WR
PR
W [
PR
SR
= SR
MR &

&
;
① Machine zero
jo $MC_TRAFO5_JOINT_OFFSET_<x>[0 .. 2]
Figure 3-9 Schematic diagram of AC kinematics, moved tool, moved workpiece, moved tool
Sign handling for rotary axes

The sign handling of rotary axes involved in 5-axis transformation is set in the channel using
machine data:
$MC_TRAFO5_ROT_SIGN_IS_PLUS_<x>[ <n> ] = <value>
<n> Meaning
0 1st rotary axis
1 2nd rotary axis
2 3rd rotary axis
<Val‐ Meaning
ue>
TRUE The sign is not inverted. The traversing direction is as defined in MD32100 $MA_AX_MO‐
TION_DIR.
FALS The sign is inverted.
E
Transformations
The machine data is not used to define that the direction of rotation of the rotary axis involved
is changed. Instead, it is specified as to whether the rotary axis, for traversing motion, rotates
in the positive traversing direction in the mathematical positive (counterclockwise) or negative
(clockwise) direction. The consequence when changing this machine data is therefore not a
change in the direction of rotation, but a change in the compensating motion in the linear axes.
However, if a direction vector, and therefore implicitly compensation motion is specified, then
the direction of rotation of the rotary axis involved changes.
This means that at a real machine, the machine data only has to be set to FALSE if, for
traversing motion in the positive traversing direction, the rotary axis rotates in the mathematical
positive direction (counterclockwise).
3.2.4 Tool orientation
=
$
;
<
① Tool axis
Figure 3-10 Processing of workpieces with 5-axis transformation
Programming
The orientation of the tool can be programmed in a block directly by specifying the rotary axes
or indirectly by specifying the Euler angle, RPY angle and direction vector. The following
options are available:
● directly as rotary axes A, B, C
● indirectly for 5-axis transformation:
via Euler or RPY angles in degrees via A2, B2, C2
● Indirectly for 5-axis transformation via direction vector A3, B3, C3
The identifiers for Euler angles and direction vectors can be set in machine data:
Euler angles via:
Transformations
MD10620 $MN_EULER_ANGLE_NAME_TAB (name of Euler angles)

Direction vector via:
MD10640 $MN_DIR_VECTOR_NAME_TAB (name of direction vectors)
The tool orientation can be located in any block. Above all, it can be programmed alone in a
block, resulting in a change of orientation in relation to the tool tip which is fixed in its
relationship to the workpiece.
Euler or RPY
The following machine data can be used to switch between Euler and RPY angles:
MD21100 $MC_ORIENTATION_IS_EULER (angle definition for orientation programming)
Orientation reference
A tool orientation at the start of a block can be transferred to the block end in two different ways:
● in the workpiece coordinate system with command ORIWKS
● in the machine coordinate system with command ORIMKS
ORIWKS command
The tool orientation is programmed in the workpiece coordinate system (WCS) and is thus not
dependent on the machine kinematics.
In the case of a change in orientation with the tool tip at a fixed point in space, the tool moves
along a large arc on the plane stretching from the start vector to the end vector.
ORIMKS command
The tool orientation is programmed in the machine coordinate system and is thus dependent on
the machine kinematics.
In the case of a change in orientation of a tool tip at a fixed point in space, linear interpolation
takes place between the rotary axis positions.
The orientation is selected via NC language commands ORIWKS and ORIMKS.
Transformations
r
)

$

; %
<
)
① Process the surface F1 along the edge of F2

② Retraction
③ Orientation change B: +90° A: -30°
④ Approach of area F2
⑤ Process the surface F2 along the edge of F1
Figure 3-11 Change in cutter orientation while processing inclined edges
Transformations
r
r
r

; =
<
② Retraction
③ with ORIWKS (large circle)
④ Approach of area F2
⑤ With ORIMKS (linear interpolation between rotary axes)
Figure 3-12 Change in orientation while processing inclined edges
ORIMKS constitutes the basic setting

The basic setting can be changed via the following machine data:
MD20150 MC_GCODE_RESET_VALUES (RESET position of G groups)
MD20150 $MC_GCODE_RESET_VALUES [24] = 1 ⇒ ORIWKS is basic setting
MD20150 $MC_GCODE_RESET_VALUES [24] = 2 ⇒ ORIWKS is basic setting
Illegal tool orientation

If tool position is programmed in relation to the following functions, alarm 12130 "Illegal tool
orientation" is output when Euler angles and direction vectors are selected and the NC program
then stops (this alarm can also occur in connection with G331, G332 and G63).
● G04: Dwell time
● G33: Thread cutting with constant lead
● G74: Approaching a reference point
● G75: Approaching a fixed point
● REPOSL: Repositioning to the contour
● REPOSQ: Repositioning to the contour
● REPOSH: Repositioning to the contour
To remedy this situation, tool orientation can be programmed with axis end values.
Transformations
Alarm 17630 or 17620 is output for G74 and G75 if a transformation is active and the axes to
be traversed are involved in the transformation. This applies irrespective of orientation
programming.
If the start and end vectors are inverse parallel when ORIWKS is active, then no unique plane
is defined for the orientation programming, resulting in the output of alarm 14120.
If a transformation switch (switch On, switch Off or change transformation) is undertaken, alarm
14400 will be generated.
In the reverse situation, i.e. a tool radius offset is selected or deselected when a transformation
is active, no alarm message is output.
Multiple input of tool orientation

According to DIN 66025, only one tool orientation may be programmed in a block, e.g. with
direction vectors:
N50 A3=1 B3=1 C3=1
If tool orientation is entered multiply, i.e. with direction vectors and with Euler angles, error
message 12240 "Channel X block Y tool orientation xx defined more than once" is displayed
and the NC part program stops.
N60 A3=1 B3=1 C3=1 A2=0 B2=1 C2=3
Tool orientation using orientation vectors

Polynomials can also be programmed for the modification of the orientation vector.
This method produces an extremely smooth change in speed and acceleration at the block
changes for rotary axes when the tool orientation has to be programmed over several blocks.
The interpolation of orientation vectors can be programmed with polynomials up to the 5th
degree. Polynomial interpolation of orientation vectors is described in the "Polynomial
Interpolation of Orientation Vectors" section.
Note
Further explanations of tool orientation using orientation vectors and their handling in machines
are given in:
Further information
Function Manual Tools, tool offset, orientable tool carriers
3.2.5 Singular positions and handling
Extreme velocity increase

If the path runs in close vicinity to a pole (singularity), one or several axes may traverse at a very
high velocity.
Transformations
Alarm 10910 "Irregular velocity run in a path axis" is then triggered. The programmed velocity
is then reduced to a value, which does not exceed the maximum axis velocity.
Behavior at pole
Unwanted behavior of fast compensating movements can be controlled by making an
appropriate selection of the following machine data (see following Figure):
● MD24530 $MC_TRAFO5_NON_POLE_LIMIT_1 (definition of pole area for 5-axis
transformation 1)
● MD24630 $MC_ TRAFO5_NON_POLE_LIMIT_2 (definition of pole area for 5-axis
transformation 2)
● MD24540 $MC_TRAFO5_POLE_LIMIT_1 (closing angle tolerance for interpolation by pole
for 5-axis transformation)
● MD24640 $MC_TRAFO5_POLE_LIMIT_2 (closing angle tolerance for interpolation by pole
for 5-axis transformation)
Note
Singularities are dealt with differently in SW 5.2 and higher: Only one relevant machine data
item exists, $MC_TRAFO5_POLE_LIMIT (see Section "Singularities of orientation
(Page 189)" or "Programming Manual, Production Planning).
Definition of the pole range for 5-axis transformation

This machine data identifies a limit angle of the 5th axis of the first MD24530
$MC_TRAFO5_NON_POLE_LIMIT_1 or the second MD24630
$MC_TRAFO5_NON_POLE_LIMIT_2 5-axis transformation with the following properties:
If the path runs past the pole at an angle lower than the value set here, it crosses through the
pole.
With the 5-axis transformation, a coordinate system consisting of circles of longitude and
latitude is spanned over a spherical surface by the two orientation axes of the tool.
If, as a result of orientation programming (i.e. the orientation vector is positioned on one plane),
the path passes so close to the pole that the angle is less than the value defined in this machine
data, then a deviation from the specified interpolation is made so that the interpolation passes
through the pole.
End angle tolerance for interpolation by pole for 5-axis transformation

This machine data identifies a limit angle for the 5th axis of the first MD24540
$MC_TRAFO5_NON_POLE_LIMIT_1 or the second MD24640
$MC_TRAFO5_NON_POLE_LIMIT_2 5-axis transformation with the following properties:
With interpolation through the pole point, only the fifth axis moves; the fourth axis remains in its
start position. If a movement is programmed which does not pass exactly through the pole
point, but is to pass within the tolerance defined by the following machine data in the vicinity of
Transformations
the pole, a deviation is made from the specified path because the interpolation runs exactly
through the pole point.
● MD24530 $MC_TRAFO5_NON_POLE_LIMIT_1
As a result, the position at the end point of the fourth axis (pole axis) deviates from the
programmed value.
This machine data specifies the angle by which the pole axis may deviate from the programmed
value with a 5-axis transformation if a switchover is made from the programmed interpolation
to interpolation through the pole point. In the case of a greater deviation, an error message is
output and the interpolation is not executed.
0'0&B75$)2B32/(B/,0,7B D

WKD[LV5$
0'0&B75$)2B121B32/(B/,0,7B
WKD[LV5$
Figure 3-13 5-axis transformation; orientation path in pole vicinity. Example for machine type 1: 2-axis
swivel head with rotary axis RA 1 (4th axis of transformation) and rotary axis RA 2 (5th axis
of transformation)
Behavior during large circle interpolation at pole position

The following machine data can be used to set the response for large circle interpolation in pole
position as follows:
MD21108 $MC_POLE_ORI_MODE
Does not define the treatment of changes in orientation during large circle interpolation unless
the starting orientation is equal to the pole orientation or approximates to it and the end
orientation of the block is outside the tolerance circle defined in the following machine data.
The position of the polar axis is arbitrary in the polar position. For the large circle interpolation,
however, a specified orientation is required for this axis.
The following machine data is coded decimally.
MD21108 $MC_POLE_ORI_MODE
Transformations
3.3 3-axis and 4-axis transformations
The units define the behavior if start orientation coincides with pole position and the decade the
behavior if start orientation is within the tolerances defined by the following machine data:
All setting values are described in "Channel-specific Machine Data".
3.3 3-axis and 4-axis transformations

3 and 4-axis transformations are special types of 5-axis transformations, where the tool can
only be orientated in the plane, perpendicular to the rotary axis. They support machine type 1
with movable tool - and type 2 with movable workpiece.
Versions of 3-axis and 4-axis transformation
Machine type swiveling/ Rotary axis orientation plane Transformation Tool orientation in
rotary parallel to type zero position
1 Tool X Y-Z 16 Z
Y X-Z 18
Z X-Y 20 Y
Z X-Y 21 X
any Any 24 1)
Any
2 workpiece X Y-Z 32, 33 Z
Y X-Z 34, 35
Any Any 40 1) Any
1) The rotary axis and the orientation plane can be set, so that the orientation does not change in a
plane, but on a tapered peripheral surface.
Tool orientation in zero position

Tool orientation at the zero position is the position of the tool for active machining plane
G17 AND position of the rotary axis 0 degrees
Axis assignments
The three linear axes included in the transformation are assigned to any channel axes via
machine data $MC_TRAFO_GEOAX_ASSIGN_TAB_n[0..2] and
$MC_TRAFO_AXES_IN_n[0..2]. The following must apply for the assignment of channel axes
to geometry axes for the transformation:
$MC_TRAFO_GEOAX_ASSIGN_TAB_n[ 0 ] = $MC_TRAFO_AXES_IN_n[ 0 ]
The axes with corresponding index must be assigned to each other.
Transformations
3.4 Transformation with swiveled linear axis
Parameter assignment procedure

● Enter the type of transformation according to the previous table as machine data:
$MC_TRAFO_TYPE_n
● Assign channel axes to the geometry axes of the transformation.
● For a 3-axis transformation, set the values for the axis, which is not required:
– $MC_TRAFO_GEOAX_ASSIGN_TAB_n[<geometry axis>] = 0
– $MC_TRAFO_AXES_IN_n[<geometry axis>] = 0
$MC_TRAFO_AXES_IN_n[ 4 ] = 0; → there is no 2nd rotary axis
● For a 4-axis transformation, set the following for the 3 linear axes
– $MC_TRAFO_GEOAX_ASSIGN_TAB_n[<geometry axis>] = ...
– $MC_TRAFO_AXES_IN_n[<geometry axis>] = ...
$MC_TRAFO_AXES_IN_n[ 4 ] = 0; → there is no 2nd rotary axis
Complete examples of a 3-axis and 4-axis transformation can be found in "Example for 3- and
4-axis Transformation" section.
General information
The "transformation with swiveling linear axis forms" a transformation group of its own. It can
be used when a kinematic as described in the Section "Orientation transformation with a
swiveling linear axis. (Page 140)" is present:
● Three Cartesian linear axes (X, Y, Z) and two orthogonal rotary axes (A, B).
● The rotary axes are parallel to two of the three linear axes.
● The first rotary axis (A) is moved by two Cartesian linear axes. It rotates the third linear axis
(Z) that moves the tool.
● The tool is aligned parallel to the third linear axis (Z).
● The second rotary axis (B) rotates the workpiece.
Transformations
Additional requirement:
● The first rotary axis (A) may only sweep a very small swivel range (swivel range << ± 90°).
Note
All the axis values used in the text relate to the designations of the example machine in the
following figure "Machine with swiveling linear axis Z"

$
%


Figure 3-14 Example: Machine with swiveling linear axis Z
Pole
The transformation with swiveling linear axis has a pole for a tool orientation parallel to the
second rotary axis (B). Singularity occurs in the pole position because the third linear axis (Z)
is parallel to the plane of the first two linear axes (X, Y), thus excluding the possibility of
compensating movements perpendicular to this plane.
Parameterization
Kinematic variants
The kinematic variant of the machine is set in the machine data:
MD24100, ... MD25190 $MC_TRAFO_TYP_n = <type>, with n = 1, 2, 3, ...
Kinematics <type>
1st rotary axis 2nd rotary axis swiveled linear axis Bits 6 - 0
A B Z 10 00 000
A C Y 10 00 001
B A Z 10 00 010
B C X 10 00 011
Transformations
Kinematics <type>
1st rotary axis 2nd rotary axis swiveled linear axis Bits 6 - 0
C A Y 10 00 100
C B X 10 00 101
Machine kinematics
The machine kinematics is set for the 1st ($MC_TRAFO5 ... _1) and/or 2nd ($MC_TRAFO5 ...
_2) 5-axis transformation in the channel set with the following machine data:
● Vector (po, see following figure) from the second rotary axis to workpiece table zero:
– MD24500 $MC_TRAFO5_PART_OFFSET_1
– MD24600 $MC_TRAFO5_PART_OFFSET_2
● Axis positions of the two rotary axes at the initial position of the machine:
– MD24510 $MC_TRAFO5_ROT_AX_OFFSET_1
– MD24610 $MC_TRAFO5_ROT_AX_OFFSET_2
● Sign with which the rotary axis positions are included in the transformation:
– MD24520 $MC_TRAFO5_ROT_SIGN_IS_PLUS_1
– MD24620 $MC_TRAFO5_ROT_SIGN_IS_PLUS_2
● Vector (jo) from machine zero to the second rotary axis:
– MD24560 $MC_TRAFO5_JOINT_OFFSET_1
– MD24660 $MC_TRAFO5_JOINT_OFFSET_2
● Vector (to) from the toolholder (flange) to the first rotary axis (measured at machine initial
position):
– MD24550 $MC_TRAFO5_BASE_TOOL_1
– MD24650 $MC_TRAFO5_BASE_TOOL_2
● Vector (ro) from machine zero to the first rotary axis (measured at the machine initial
position):
– MD24562 $MC_TRAFO5_TOOL_ROT_AX_OFFSET_1
– MD24662 $MC_TRAFO5_TOOL_ROT_AX_OFFSET_2
Determining the machine data values

As an aid for determining the values for the above-mentioned machine data, the following two
sketches clarify the relationships between the vectors.
Note
Requirement
The machine has been traversed so that the tool holding flange aligns with the table zero (*).
Is this is technically not possible, vector to must be corrected by the deviations.
Transformations
9LHZDORQJ;D[LV
5RWDU\D[LVWKDWVZLYHOV
WKHUGOLQHDUD[LV =
UR WR
7DEOH]HUR
SR
5RWDU\D[LVRIWDEOH
=
MR
0DFKLQH]HUR
; <
9LHZDORQJ=D[LV
= <
5RWDU\D[LVWKDWVZLYHOVWKHUGOLQHDUD[LV =
=
WR
:RUNSLHFH]HURRQWDEOH
UR
; SR
MR
0DFKLQH]HUR 5RWDU\D[LVRIWDEOH
Figure 3-15 Projections of the vectors to be set in the machine data
Note
A physically identical point on the 1st rotary axis (e.g. point of intersection between the tool axis
and the 1st rotary axis) must be assumed for both views.
Transformations

$
%


Figure 3-16 Machine in the zero position
=

;
<
WR
SR
MR
UR] UR
① Stand
② Fixture
③ Axis of the tool
Figure 3-17 Front view: Vectors for machine in the zero position
Transformations
<

WR
SR
=
MR UR
MR[
MR\
① Stator with clamping device

② Swivel axis of the linear axis
Figure 3-18 Top view: Vectors for machine in the zero position
Determination of the machine data values

Perform the following operation:
1. Determine, as shown in the lower part for vector jo in the "Vectors for machine in zero
position" figure, the X and Y components for all vectors.
2. As shown in the upper part for vector ro in the "Vectors for machine in zero position" figure,
determine the Z component for all vectors.
3. Enter the X, Y and Z components of the vectors (po, jo, to, ro) in the relevant machine data.
The procedure can be used all settable kinematic variants.
Note
For the appropriate machine geometry or position of the machine zero, both individual
components as well as complete vectors can become zero.
Programming
The switch on/off of the transformation in the part program or synchronized action is described
in Section "Programming of the 3- to 5-axis transformation (Page 170)".
Tool orientation
For a transformation with swiveling linear axis, the same statements as for the 5-axis
transformation with regard to the tool orientation apply similarly (see Section "Tool orientation
(Page 153)").
Transformations
3.5 Cardan milling head
3.5.1 Fundamentals of cardan milling head
Note
The following description of the cardan milling head transformation has been formulated on the
assumption that the reader has already read and understood the general 5-axis transformation
described in Section "5-axis transformation (Page 145)". 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.
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.
$ಿ
$ಿ
= =
& 7RROD[LV & 7RROD[LV

; ;
Figure 3-19 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.
Transformations
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
&
ϕ
=
$
;
<
Figure 3-20 Position of axis A'
Transformations
Axis A' is positioned in the plane spanned by the rectangular axes of the designated axis
sequence. If, for example, the axis sequence is CA', then axis A' is positioned in plane Z-X. The
angle φ then is the angle between axis A' and the X axis.
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
Transformations
3.6 Programming of the 3- to 5-axis transformation
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
BC' / B'C - x x - x x - - -
011
CA' / C'A x - x - - - - - -
100
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.
3.5.3 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.
Switch on
The 3- to 5-axis transformations, including the transformations with swiveled linear axis and
cardan milling head, are enabled with the TRAORI(<transformation-no.>) command.
The enable of the transformation sets the NC/PLC interface signal:
Transformations
DB21, ... DBX33.6 = 1 (transformation active)
Deactivation
With the TRAFOOF command disables the currently active 3- to 5-axis transformation. The
disable of the transformation resets the NC/PLC interface signal:
DB21, ... DBX33.6 = 0 (transformation inactive)
Switch-over
If a transformation is already active in the channel, the TRAORI(<transformation-no.>)
with a new transformation number command can be used to switch to another transformation.
Reset / program end

The control behavior after startup, program end or NC reset is set in the machine data:
MD20110 $MC_RESET_MODE_MASK, bit 7 = <value>
<Value> Meaning
0 Initial setting for active transformation after reset / program end according to $MC_TRA‐
FO_RESET_VALUE
1 The active transformation remains active over reset / program end
Option
The "5-axis transformation" function, together with its special forms, is an option.
Further information
A detailed description of the machine data can be found in:
Parameter Manual, Detailed Machine Data Description
See also
Dynamic orientation transformation TRAORI_DYN (Page 258)
Transformations
3.7 Generic 5-axis transformation and variants
3.7.1 Functionality
Scope of functions
The scope of functions of generic 5-axis transformation covers implemented 5-axis
transformations (see Section "5-axis transformation (Page 145)") for perpendicular rotary axes
as well as transformations for the cardan milling head (one rotary axis parallel to a linear axis,
the second rotary axis at any angle to it, see Section "Cardan milling head (Page 167)").
Applications
In certain cases, it may not be possible to compensate the conventional transformation
machine accuracy, e.g. if:
● the rotary axes are not exactly mutually perpendicular or
● one of the two rotary axes is not positioned exactly parallel to the linear axes
In such cases, generic 5-axis transformation can produce better results.
Programming example
for generic 5-axis transformation is shown in Section "Example for Generic 5-axis
Transformation".
Activation
Generic 5-axis transformation can also be activated like any other orientation transformation
using the TRAORI() or TRAORI(n) command (where n is the number of the transformation).
Furthermore, the basic transformation can be transferred in the call in three other parameters,
e.g. TRAORI(1, 1.1, 1.5, 8.9).
A transformation can be deselected implicitly by selecting another transformation or explicitly
with TRAFOOF.
Transformations
3.7.2 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 147)"):
$MC_TRAFO_TYPE_1, ..., _8
Additional types have been introduced for generic 5-axis transformation:
Table 3-1 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):
Transformations
MD24572 $MC_TRAFO5_AXIS2_1[0] = 0.0 (direction 2nd rotary axis)

MD24572 $MC_TRAFO5_AXIS2_1[1] = 1.0
MD24572 $MC_TRAFO5_AXIS2_1[2] = 0,0
3.7.3 Generic orientation transformation variants
Extension
Generic orientation transformation for 5-axis transformation has been extended with the
following variants for 3-and 4-axis transformation:
Variant 1
4-axis transformations
A 4-axis transformation is characterized by the exclusive use of the first rotary axis as an entry
axis of the transformation. The following applies:
MD24110 $MC_TRAFO_AXES_IN_1[4] = 0 (axis assignment for transformation 1) or
MD24210 $MC_TRAFO_AXES_IN_2[4] = 0 (axis assignment for transformation 2)
Variant 2
3-axis transformations
In a 3-axis transformation, one of the geometry axes is not present, by entering a zero in the
field:
MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1[n] (assignment between geometry axis
and channel axis for transformation 1)
MD24220 $MC_TRAFO_GEOAX_ASSIGN_TAB_2[n] (assignment between geometry axis
and channel axis for transformation 2)
Transformation types
Both variants of generic 3- or 4-axis transformation are described by the following
transformation types:
● 3- or 4-axis transformation with rotatable tool
$MC_TRAFO_TYPE_n = 24
● 3- or 4-axis transformation with rotatable workpiece
In conventional 3-axis or 4-axis transformations, the transformation type also defined the basic
tool orientation in addition to the position of the rotary axis, which could then no longer be
influenced.
Transformations
Effects on orientations
Generic 3-axis or 4-axis transformation has the following effect on the various orientations:
The resulting tool orientation is defined according to the hierarchy specified for generic 5-axis
transformation.
Priority:
● high: programmed orientation,
● medium: tool orientation and
● low: basic orientation
Allowance is made, in particular, for the following orientations:
● A programmed tool orientation
● A basic tool orientation, modified by orientable toolholders.
Note
Further information on programmable tool orientation and on basic tool orientation can be
found in:
Further information
Function Manual Tools, tool offset, orientable tool carriers
Programming Manual, Fundamentals
Comparison
Besides the 3- and 4-axis transformations mentioned in Section "3- and 4-axis
Transformations", the following differences should be noted:
● Position of the rotary axis:
– can be arbitrary
– need not be parallel to a linear axis
● Direction of the rotary axis
– Must be defined by the following machine data:
MD24570 $MC_TRAFO5_AXIS1_1[n] (direction 1st rotary axis) or
MD24670 $MC_TRAFO5_AXIS1_2[n] (direction 1st rotary axis)
● Basic tool orientation
– Must be defined by the following machine data:
MD24574 $MC_TRAFO5_BASE_ORIENT_1[n] (workpiece orientation) or
MD24674 $MC_TRAFO5_BASE_ORIENT_2[n] (workpiece orientation)
● Selection of a generic 3-/4-axis transformation
– Optional tool orientation can be transferred as in the case of a generic 5-axis
transformation.
Transformations
3.7.4 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 3-2 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
Transformations
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
MD24572 $MC_TRAFO5_AXIS2_1[0] (direction 2nd rotary axis) $TC_CARR10
MD24510 $MC_TRAFO5_ROT_AX_OFFSET_1[0] (position offset $TC_CARR24 (+
of rotary axes 1/2/3 for 5-axis transformation) 1) $TC_TCARR64)
MD24510 $MC_TRAFO5_ROT_AX_OFFSET_1[1] $TC_CARR25 (+
$TC_TCARR65)
Transformations
Assignment for all types of transformation together identical

MD24520 $MC_TRAFO5_ROT_SIGN_IS_PLUS_1[0] (sign of rotary TRUE*
axis 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] $TC_CARR1 (+$TC_TCARR41)
(translation vector of 5-axis transformation 1)
MD24560 $MC_TRAFO5_JOINT_OFFSET_1[0] (vec‐ $TC_CARR4 (+$TC_TCARR44)

tor of the kinematic offset of 5-axis transformation 1)
MD24560 $MC_TRAFO5_JOINT_OFFSET_1[1] $TC_CARR5 (+$TC_TCARR45)
MD24550 $MC_TRAFO5_BASE_TOOL_1[0] (vector $TC_CARR15 (+$TC_TCARR55)

of 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)

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


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


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

MD24560 $MC_TRAFO5_JOINT_OFFSET_1[0] (vector $TC_CARR1 (+$TC_TCARR41)
of the kinematic offset of 5-axis transformation 1)
MD24560: TRAFO5_JOINT_OFFSET_1[2] $TC_CARR3 (+$TC_TCARR43)

MD24558 $MC_TRAFO5_JOINT_OFFSET_PART_1[0] $TC_CARR15 (+$TC_TCARR55)


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 = ; parameterize data of the third orientable
3; ; toolholder
3.7.5 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.
Transformations
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.
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.
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>
Transformations
Parameter assignment: Direction vector of the 3rd rotary axis

The direction vector of the third rotary axis is set in:
$MC_TRAFO5_AXIS3_<x>[ 0 ... 2 ] = <direction vector component>
Parameter assignment: Tool normal vector

It is not permissible that the tool normal vector is in parallel or is antiparallel to the basic tool
orientation vector (MD24574 $MC_TRAFO5_BASE_ORIENT_<x>). It is set in:
$MC_TRAFO6_BASE_ORIENT_NORMAL_<x>[ 0 ... 2 ] = <component of the tool normal
vector>
Parameter assignment: Offset vector between the second and third rotary axes
The offset vector between the second and third rotary axes is set in:
$MC_TRAFO6_JOINT_OFFSET_2_3_<x>[ 0 ... 2 ] = <component of the offset vector>
Orientation
With the extension of the generic orientation transformation to six axes, all three degrees of
freedom of the orientation can be freely selected. They can be uniquely defined through the
position of a rectangular Cartesian coordinate system. The axis direction of the third axis
defines the orientation.
Two degrees of freedom are required to specify this axis direction. The third degree of freedom
is defined via a rotation around this axis direction, e.g. by specifying an angle THETA or a
direction vector for one of the two other axes of the coordinate system (see Chapter "Rotations
of orientation vector (Page 223)").
Addresses AN3, BN3, CN3 define the direction of the second axis of the coordinate system, i.e.
the orientation normal vector. The orientation normal vector, programmed with addresses AN3,
BN3, CN3, should be perpendicular to the orientation. If this is not the case, then the
programmed orientation normal vector is internally modified to achieve this. Then, the modified
orientation normal vector lies in the plane formed by the programmed orientation and
orientation normal vector - and is perpendicular to the orientation vector. This orthogonalization
is only possible if the two programmed vectors are neither parallel nor antiparallel. Alarm 4342
is output if this condition is not satisfied.
Direction vectors in the tool data
Orientation vector
Vector components (x,y,z) of the orientation vector of a tool can be defined in the tool data using
$TC_DPV or $TC_DPV3 - $TC_DPV5.
Further information: Function Manual Tools; Tool offsets, sum and setup offsets
Transformations
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 245)
3.7.6 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.
Transformations
Requirement
For generic 7-axis transformation there must be at least 6 or 7 axes.
Function
Another 7th axis is required in connection with the generic 6-axis transformation which rotates
the workpiece. This 7th Axis is considered only along with transformation type 24 (generic 6-
axis transformation having 3 rotary axes that move the tool ).
The position of the 7th axis is specified according to a strategy of the CAD system and settled
with the Cartesian position (X, Y, Z) by the generic transformation in such a way that the axes
always approach the TCP position programmed with reference to the workpiece, independently
of the position of the 7th axis. If ORIWKS is active, the end orientation programmed with
reference to the workpiece is also rotated by the 7th axis. This way it is possible to program the
orientation in relation to the workpiece.
The transformation uses the 7th axis as the observed input variable.
To configure the 7th axis, the channel machine data of the 5-/6-axis transformation is extended
by one field containing the 3 components of the direction vector of the 7th axis and an axis
offset.
This gives the following advantages:
● The contour and the orientation at the workpiece can be programmed in relation to the
workpiece.
● The programmed feed is maintained in the contour, even if the 7th axis also moves.
● All the contour-related control functions can be used.
● The displayed WCS position corresponds to the programmed position.
● The transformation is configured as in generic 6-axis transformation. One can switch
between a 6-axis and a 7-axis transformation smoothly.
● In case of large radius circular interpolation, the release of singularities incorporating the 7th
axis.
Notations
Dedicated machine data exist for each general transformation and for each orientation
transformation that are differentiated by the suffixes _1, _2 etc. (e.g. $MC_TRAFO_TYPE_1,
$MC_TRAFO_TYPE_2 etc.). In the following, only the names for the first transformation are
specified, i.e. those with the suffix _1. If a transformation other than the first is parameterized,
the correspondingly modified names must be used.
Transformations
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 val‐
FO_AXES_IN_1[11] ue 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.
Transformations
MR $
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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 3-21 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.
Transformations
Orientation
1. Orientation with axis interpolation
If the 7th axis should have no influence on the programmed orientation, the G commands
of groups 25 and 51 must be set accordingly:
G group 25: ORIMKS
G group 51: ORIAXES (if MD21104 $MC_ORI_IPO_WITH_G_CODE = 1 is set).
The programmed positions of the rotary axes are not changed by the position of the 7th axis
in this case, but are approached directly. The orientation is programmed in relation to the
machine.
Example
Program code
TRAORI(1)
ORIAXES
ORIMKS
G1 X500 Y300 Z800 C15 A5 C1=10 E1=120
1. Orientation and large circle interpolation

If traversing is to be done with large radius circular interpolation, the end orientation is
rotated with the 7th axis.
G command group 25: ORIWKS
G command group 51: ORIVECT (if MD21104 $MC_ORI_IPO_WITH_G_CODE = 1 is set).
In this case the orientation must be programmed in relation to the workpiece. The
programmed orientation is thus related to the fixed workpiece. The position of the 7th axis
is thus not contained in the programmed orientation.
Example
Program code
TRAORI(1)
ORIVECT
ORIWKS
G1 X500 Y800 Z100 A3=0 B3=1 C3=0 AN3=0 BN3=0 CN3=–1 E1=–90
Frames
The basic coordinate system sits on the 7th axis. It is also rotated when the 7th axis rotates.
This way the workpiece coordinate system (WCS) does not remain stationary when the
workpiece is rotated over the 7th axis. A workpiece position rotated to the zero position of the
7th axis can be compensated by an axial frame offset of the 7th axis.
Traversing with the 7th axis in JOG mode

Only the compensatory movements for the linear axes are created if the 7th axis is traversed
in the JOG mode with active 7-axis transformation. The position at the workpiece is kept
constant in this way. As the rotary axes go into the transformation only as input axes, they are
not influenced by the 7th axis during the JOG travel. The orientation at the workpiece is thus
kept variable.
Transformations
3.7.7 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:
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
M1: Kinematics transformation (Page 19)
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.
Transformations
3.8 Restrictions for kinematics and interpolation
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
For further explanations regarding orientation motion (see Chapter "Orientation (Page 191)"
and "Orientation axes (Page 212)").
Note
For further information on programming the rotations, see:
Further information
Programming Manual Advanced; Transformations
3.8.1 Restrictions for kinematics and interpolation

For systems where there are less than six axes available for transformation, the following
restrictions must be taken into account.
5-axis kinematics
For 5-axis kinematics there are two degrees of freedom for orientation. The assignment of
orientation axes and tool vector direction must be selected so that there is no rotation around
the tool vector. As a result, only two orientation angles are required to describe the orientation.
If the axis is traversed using ORIVECT, the tool vector performs pure swiveling motion.
3-and 4-axis kinematics

For 3- and 4-axis kinematics, only one degree of freedom is available for orientation. The
respective transformation determines the relevant orientation angle. In this case, it only makes
sense to traverse the orientation axis using ORIAXES. In this case, the orientation axis is
directly and linearly interpolated.
Transformations
Interpolation of the tool orientation over several blocks by means of orientation vectors
If the orientation of a tool is programmed over several consecutive part program blocks by
directly entering the appropriate rotary axis positions, then undesirable discontinuous changes
of the orientation vector are obtained at the block transitions. This results in discontinuous
velocity and acceleration changes of the rotary axes. This means that no continuous velocity
and acceleration of the orientation axes over several blocks can be achieved using large circle
interpolation.
Continuous block transitions
As long as only linear blocks (G1) are programmed, then the orientation axes also behave just
like linear axes. In this case, motion with continuous acceleration is achieved through
polynomial interpolation. Significantly better results can be achieved by programming the
orientation in space using orientation vectors (see Section "Polynomial interpolation of
orientation vectors (Page 219)").
3.8.2 Singularities of orientation
Description of problem
As described in Section "Singularities and how to treat them", singularities (poles) are
constellations in which the tool is orientated becomes parallel to the first rotary axis. If the
orientation is changed when the tool is in or close to a singularity (as is the case with large-circle
interpolation ORIWKS ), the rotary axis positions must change by large amounts to achieve
small changes in orientation. In extreme cases, a jump in the rotary axis position would be
needed.
Such a situation would be treated as follows:
There is only one relevant machine data, which circles the pole as usual:
MD24540 $MC_TRAFO5_POLE_LIMIT_1 (closing angle tolerance for interpolation by pole for
5-axis transformation)
or
MD24640 $MC_TRAFO5_POLE_LIMIT_2 (closing angle tolerance for interpolation by pole for
5-xis transformation)
For further information about the handling of singular positions, see:
Further information
Programming Manual Advanced; Transformations, Cartesian PTP travel
Example for machine type 1

Rotatable tool
Both rotary axes change the orientation of the workpiece. The orientation of the workpiece is
fixed.
2-axis swivel head with rotary axis RA 1 (4th transformation axis) and rotary axis RA 2 (5th
transformation axis)
Transformations
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Figure 3-22 Generic 5-axis transformation; end point of orientation inside tolerance circle.
End point within the circle

If the end point is within the circle, the first axis comes to a standstill and the second axis moves
until the difference between target and actual orientation is minimal. However, since the first
rotary axis does not move, the orientation will generally deviate from the programmed value
(see previous figure). However, the programmed orientation can at least be reached exactly if
the first rotary axis happens to be positioned correctly.
Note
In the previous Figure the resulting path is a straight line because the position of the first rotary
axis is constant on that path. This representation is always correct, irrespective of the angle
between the two rotary axes. The orientation vector only moves in a plane, however, if the two
rotary axes and the basic orientation are all mutually perpendicular. In all other cases, the
orientation vector describes the outside of a cone.
End point outside the circle

If the orientation interpolation describes a path through the circle, while the end point is outside
the circle, the end point is approached with axis interpolation. This applies in particular if the
interpolation starting point is located inside the circle. Path deviations from the programmed
setpoint orientation are thus unavoidable.
Transformations
3.9 Orientation
3.9 Orientation
3.9.1 Basic orientation
Differences to the previous 5-axis transformations

In the 5-axis transformations implemented to date, basic orientation of the tool was defined by
the type of transformation.
Generic 5-axis transformation can be used to enable any basic tool orientation, i.e. space
orientation of the tool is arbitrary, with axes in their initial positions.
If an orientation is programmed by means of Euler angles, RPY angles (A2, B2, C2) or vectors
(A3, B3, C3), basic orientation is taken into consideration, i.e. the rotary axes are positioned so
that a tool positioned in basic orientation is traversed to the programmed orientation.
If the rotary axes are programmed directly, basic orientation has no effect.
Definition
The basic orientation can be defined in three different ways:
● Definition by calling the transformation
● Definition by the orientation of the active tool
● Definition using a machine data
Definition by calling the transformation

When the transformation is called, the direction vector of the basic orientation can be specified
in the call, e.g. TRAORI(0, 0., 1., 5.). The direction vector is defined by parameters 2 to
4. This is the reason that in the example it has the value (0., 1., 5.).
The first parameter specifies the transformation number. The number can be omitted if the first
transformation is to be activated. To enable the parameters to be identified correctly when
specifying an orientation, a blank space has to be inserted instead of the transformation
number, e.g. TRAORI(, 0., 1., 5.).
Note
The orientation data is absolute. It is not modified by a frame that is possibly active.
The absolute value of the vector is insignificant, only the direction is relevant. Non-programmed
vector elements can be set to zero.
Please note that if all three vector components are zero (because they have been set explicitly
so or not specified at all), the basic orientation is not defined by data in the TRAORI(...) call,
but by one of the two other options.
If a basic orientation is defined by calling the transformation, it cannot be altered while a
transformation is active. The orientation can be changed only by selecting the transformation
again.
Transformations
3.9 Orientation
Definition by the orientation of the active tool

The basic orientation is determined by the tool, if:
● it has not been defined by specifying a direction vector in the transformation call
and
● a tool is already active.
The orientation of a tool is dependent on the selected plane. It is parallel to Z at G17, parallel
to Y at G18 and parallel to X at G19.
It can be modified arbitrarily by orientable toolholders, see:
Further information
Function Manual Tools; Tool offset, orientable tool carriers
If the tool is changed when a transformation is active, the basic orientation is also updated. The
same applies if the orientation of a tool changes as the result of a change in plane (plane
changes are equivalent to tool changes, as they also alter the assignment between tool length
components and individual axes).
If the tool is de-selected, thereby canceling the definition of tool orientation, the basic
orientation programmed in machine data becomes operative.
Definition using a machine data

If the basic orientation is not defined by either of the two variants described above, it is specified
with reference to the following machine data:
$MC_TRAFO5_BASE_ORIENT_n (basic tool orientation)
This machine data must not be set to a zero vector or else an alarm will be generated during
control run-up when a transformation is active.
If a basic orientation is programmed in machine data $MC_TRAFO5_BASE_ORIENT_n when
a transformation is active and a tool is subsequently activated, the basic orientation is re-
defined by the tool.
Note
The range of settable orientations depends on the directions of the rotary axes involved and the
basic orientation. The rotary axes must be mutually perpendicular if all possible orientations are
to be used. If this condition is not met, "dead" ranges will occur.
Examples:
1. Extreme example: A machine with rotatable tool has a C axis as its first rotary axis and an
A axis as its second. If the basic orientation is defined in parallel to the A axis, the orientation
can only be changed in the X-Y plane (when the C axis is rotating), i.e. orientation with a Z
component unequal to zero is not possible in this instance. The orientation does not change
when the A axis rotates.
2. Realistic example: A machine with nutator kinematics (cardan head) with an axis inclined at
less than 45o in a basic orientation parallel to the Z axis can only assume orientations within
a semi-circle: The top semi-circle with basic orientation towards +Z and the bottom with
basic orientation towards -Z.
Transformations
3.9 Orientation
3.9.2 Orientation movements with axis limits
Calculate rotary axis position

If the final orientation in a 5-axis transformation is programmed indirectly in an NC block by
means of a Euler, RPY angle or direction vector, it is necessary to calculate the rotary axis
positions that produce the desired orientation. This calculation has no unique result.
There are always at least two essentially different solutions. In addition, any number of
solutions can result from a modification to the rotary axis positions by any multiple of 360
degrees.
The control system chooses the solution which represents the shortest distance from the
current starting point, allowing for the programmed interpolation type.
Determining permissible axis limits

The control system attempts to define another permissible solution if the axis limits are violated,
by approaching the desired axis position along the shortest path. The second solution is then
verified, and if this solution also violates the axis limits, the axis positions for both solutions are
modified by multiples of 360 until a valid position is found.
The following conditions must be met in order to monitor the axis limits of a rotary axis and
modify the calculated end positions:
● A generic 5-axis transformation of type 24, 40 or 56 must be active.
● The axis must be referenced.
● The axis must not be a modulo rotary axis.
● The following machine data may not be equal to zero:
MD21180 $MC_ROT_AX_SWL_CHECK_MODE (check software limits for orientation axes)
MD21180 $MC_ROT_AX_SWL_CHECK_MODE specifies the conditions under which the
rotary axis positions may be modified:
Value Meaning
0 No modification permitted (default, equivalent to previous behavior).
1 Modification is only permitted if axis interpolation is active (ORIAXES or ORIMKS).
2 Modification is always permitted, even if vector interpolation (large circle interpolation, conical
interpolation, etc.) was active originally.
Switch-over to axis interpolation

If the axis positions have to be changed from the originally determined value, the system
switches to rotary axis interpolation because the original interpolation path, e.g. large circle
interpolation or conical interpolation, can no longer be maintained.
Example
An example for modifying the rotary axis motion of a 5-axis machine with a rotatable tool is
shown in Chapter "Example of generic 5-axis transformation (Page 243)".
Transformations
3.9 Orientation
3.9.3 Orientation compression
Function
Using compressor functions COMPON, COMPCURV, COMPCAD and COMPSURF, NC
programs, in which the orientation is programmed using direction vectors, can be compressed,
but still maintaining a specifiable tolerance.
Requirement
An orientation motion is only compressed under the following conditions:
● Orientation transformation (TRAORI) is active.
● Large-radius circular interpolation is active.
I.e. tool orientation is changed in the plane that is determined by start and end orientation.
Large-radius circular interpolation is performed under the following conditions:
– MD21104 $MC_ORI_IPO_WITH_G_CODE = 0
+ ORIWKS is active.
+ orientation is programmed using vectors (with A3, B3, C3 or A2, B2, C2).
– MD21104 $MC_ORI_IPO_WITH_G_CODE = 1
+ ORIVECT or ORIPLANE is active.
The tool orientation can be programmed either as a direction vector or with rotary axis
positions. Large-radius circular interpolation is not executed if G command ORICONxx
or ORICURVE is active or if polynomials for orientation angle (PO[PHI] and PO[PSI]) are
programmed.
Parameterization
NC blocks can only be compressed if deviations are allowed between the programmed contour
and interpolated contour or between the programmed orientation and interpolated orientation.
Compression tolerances can be used to set the maximum permissible deviation. The higher the
tolerances, the more blocks can be compressed. However, the higher the tolerances, the more
the interpolated contour or orientation can deviate from the programmed values.
Axis accuracy
For each programmed path, the compressor generates a spline curve such that, for the axes
involved, the maximum tolerance set with the machine data is complied with in the endpoints:
MD33100 $MA_COMPRESS_POS_TOL = <maximum deviation with compression>
Transformations
3.9 Orientation
Contour accuracy
The maximum deviation from the programmed contour and tool orientation permitted during
compression is set with the following setting data:
● SD42475 $SC_COMPRESS_CONTUR_TOL = <maximum contour deviation>
● SD42476 $SC_COMPRESS_ORI_TOL = <maximum angular deviation of the tool
orientation>
Only effective with orientation transformation.
● SD42477 $SC_COMPRESS_ORI_ROT_TOL = <maximum angular deviation of the tool
orientation>
Only effective with orientation transformation in conjunction with 6-axis transformation.
Note
A maximum deviation of tool orientation can only be specified if an orientation transformation
is active (TRAORI).
Compression mode
With the machine data, the following decimal-coded functions are parameterized:
● Units digit: Taking into account tolerances
● Tens digit: Compression of blocks with programmed tool orientation and / or value
assignments.
● Hundreds digit: Compression of blocks, except linear blocks (G1).
● Thousands digit: Compression for specific applications.
MD20482 $MC_COMPRESSOR_MODE = <value>
Val‐ Meaning
ue
Units digit
(Effective tolerance specifications)
xxx0 Geometry and orientation axes MD33100 $MA_COMPRESS_POS_TOL
xxx1 Geometry axes SD42475 $SC_COMPRESS_CONTUR_TOL
Orientation axes MD33100 $MA_COMPRESS_POS_TOL
xxx2 Geometry axes MD33100 $MA_COMPRESS_POS_TOL
Orientation axes SD42476 $SC_COMPRESS_ORI_TOL
SD42477 $SC_COMPRESS_ORI_ROT_TOL
xxx3 Geometry axes SD42475 $SC_COMPRESS_CONTUR_TOL
Orientation axes SD42476 $SC_COMPRESS_ORI_TOL
SD42477 $SC_COMPRESS_ORI_ROT_TOL
Tens digit
(Compression of blocks with programmed tool orientation and / or value assignments)
xx0x Blocks with programmed tool orientation and/or value assignments are compressed.
xx1x Blocks with programmed tool orientation are compressed.
Blocks with value assignments are not compressed.
Transformations
3.9 Orientation
xx2x Blocks with value assignments are compressed.

Blocks with programmed tool orientation are not compressed.
xx3x Blocks with programmed tool orientation and / or value assignments are not compressed.
Hundreds digit
(Compression of blocks, except linear blocks (G1))
x0xx Circular blocks and G0 blocks are not compressed.
x1xx Circular blocks are linearized and compressed by COMPCAD.
x2xx G0 blocks 1) are compressed.
x3xx Circular blocks and G0 blocks 1) are compressed.
Thousands digit
(Compression for specific applications)
0xxx Optimization regarding the surface quality in tool and mold making.
1xxx Optimization regarding smooth and quick traversal.
Relevant for applications such as, for example, tape laying.
1) Another tolerance can be specified for compression with MD20560 $MC_G0_TOLERANCE_FAC‐
TOR or NC command STOLF.
Programming
Tool orientation
If orientation transformation (TRAORI) is active, for 5-axis machines, tool orientation can be
programmed in the following way (independent of the kinematics):
● Programming of the direction vector via:
A3=<...> B3=<...> C3=<...>
● Programming of the Eulerangles or RPY-angles via:
A2=<...> B2=<...> C2=<...>
Rotation of the tool

For 6-axis machines you can program the tool rotation in addition to the tool orientation.
The angle of rotation is programmed with:
THETA=<...>
Note
NC blocks, in which rotation is also programmed, can only be compressed if the angle of
rotation changes linearly. I.e., an angle of rotation must not be programmed with a polynomial
PO[THT]=(...).
General structure of a compressible NC block

The general structure of an NC block that can be compressed can therefore look like this:
N... X=<...> Y=<...> Z=<...> A3=<...> B3=<...> C3=<...> THETA=<...> F=<...>
or
N... X=<...> Y=<...> Z=<...> A2=<...> B2=<...> C2=<...> THETA=<...> F=<...>
Transformations
3.9 Orientation
Programming tool orientation using rotary axis positions

Tool orientation can be also specified using rotary axis positions, e.g. with the following
structure:
N... X=<...> Y=<...> Z=<...> A=<...> B=<...> C=<...> THETA=<...> F=<...>
In this case, compression is executed in two different ways, depending on whether large-radius
circular interpolation is executed. If no large-radius circular interpolation takes place, then the
compressed change in orientation is represented in the usual way by axial polynomials for the
rotary axes.
Activate compressor function

Compressor functions are activated by modal G commands COMPON, COMPCURV, COMPCAD or
COMPSURF.
Deactivate compressor function

COMPOF terminates the compressor function.
Example
In the example program below, a circle approximated by a polygon definition is compressed.
The tool orientation moves on the outside of the taper at the same time. Although the
programmed orientation changes are executed one after the other, but discontinuously, the
compressor function generates a smooth motion of the orientation.

DEF INT NUMBER=60
DEF REAL RADIUS=20
DEF INT COUNTER
DEF REAL ANGLE
N10 G1 X0 Y0 F5000 G64 //sort match
rate lower first
$SC_COMPRESS_CONTUR_TOL=0.05 ; Maximum deviation of the contour = 0.05 mm

$SC_COMPRESS_ORI_TOL=5 ; Maximum deviation of the orientation
= 5 degrees
TRAORI
COMPCURV
; The movement describes a circle generated
from polygons. The orientation moves on a
taper around the Z axis with an opening an-
gle of 45 degrees.
N100 X0 Y0 A3=0 B3=-1 C3=1
N110 FOR COUNTER=0 TO NUMBER
N120 ANGLE=360*COUNTER/NUMBER
N130 X=RADIUS*cos(angle) Y=RADIUS*sin(angle)
A3=sin(angle) B3=-cos(angle) C3=1
N140 ENDFOR
Transformations
3.9 Orientation
Further information
Function Manual Basic Functions; Continuous-path mode, exact stop, LookAhead >
Compressor functions
3.9.4 Smoothing of the orientation characteristic
3.9.4.1 Function
With many of the NC programs for 5-axis machining created with CAD/CAM systems it
happens that although the contour characteristic is sufficiently smooth in accordance with the
underlying geometry the orientation characteristic contains fluctuations it to one extent or the
other. These fluctuations in orientation result in very unsmooth running of the orientation axes
with permanent acceleration and braking. The compensating motion that the linear axes then
have to carry out requires that they also have to be continually accelerated and braked. Due to
this unnecessary acceleration, the possible path velocity is significantly limited and
consequently the machining time unnecessarily lengthened.
The "Smoothing the orientation characteristic" function can be used to smooth oscillations
affecting orientation over several blocks. The aim is to achieve a smooth characteristic for both
the orientation and the contour.
Preconditions
The following preconditions apply when using the function:
● The function is only available in systems with 5/6-axis transformation.
● It can only be used in conjunction with the COMPCAD compressor function.
3.9.4.2 Commissioning
Parameterization
Number of blocks
Smoothing of the orientation characteristic is carried out by means of an adjustable number of
blocks:
MD28590 $MC_MM_ORISON_BLOCKS = <value>
For most applications, 10 blocks should be sufficient. The minimum value that should be
entered is 4.
Note
If smoothing of the orientation characteristic is activated without sufficient block memory having
been configured for it (MD28590 < 4), an alarm message will be output and the function cannot
be executed.
Transformations
3.9 Orientation
Maximum block path length

The orientation characteristic is only smoothed in blocks whose traversing distance is shorter
than the settable maximum block path length:
MD20178 $MC_ORISON_BLOCK_PATH_LIMIT
Blocks with longer traversing distances interrupt smoothing and are traversed as programmed.
Maximum tolerance
Smoothing of the orientation characteristic is carried out with the specified maximum tolerance
being observed (maximum angular displacement of tool orientation in degrees):
SD42678 $SC_ORISON_TOL
Maximum path distance
The maximum distance over which smoothing is carried is the specified path distance:
SD42680 $SC_ORISON_DIST
3.9.4.3 Activating/deactivating the orientation characteristic (ORISON, ORISOF)

The "Smoothing of the orientation characteristic" is activated/deactivated in the part program
using the commands of G group 61. The commands are modal.
Preconditions
● System with 5/6-axis transformation.
● Compressor function COMPCAD is active.
Syntax
ORISON
...
ORISOF
Meaning
ORISON: Activating the orientation characteristic smoothing

ORISOF: Deactivating the orientation characteristic smoothing
Example
...
TRAORI() ; Activation of orientation transformation.
COMPCAD ; Activating the COMPCAD compressor function.
ORISON ; Activating orientation smoothing.
Transformations
3.9 Orientation

$SC_ORISON_TOL=1.0 ; Maximum angular deviation of the tool orientation
= 1.0 degrees.
G91
X10 A3=1 B3=0 C3=1
X10 A3=–1 B3=0 C3=1
X10 A3=1 B3=0 C3=1
X10 A3=–1 B3=0 C3=1
X10 A3=1 B3=0 C3=1
X10 A3=–1 B3=0 C3=1
X10 A3=1 B3=0 C3=1
X10 A3=–1 B3=0 C3=1
X10 A3=1 B3=0 C3=1
X10 A3=–1 B3=0 C3=1
...
ORISOF ; Deactivation of orientation smoothing.
...
The orientation is pivoted through 90 degrees on the XZ plane from -45 to +45 degrees. Due
to the smoothing of the orientation characteristic the orientation is no longer able to reach the
maximum angle values of -45 or +45 degrees.
3.9.5 Path-relative orientation (ORIPATH, ORIPATHS, ORIROTC)
Functionality
Irrespective of certain technological applications, the previous programming of tool orientation
is improved in that the programmed relative orientation in relation to the total path is maintained.
The required deviations from the ideal orientation path can be specified if, for example, a corner
occurs in the contour.
Tool orientation can be modified not only via configurable machine data, but also via new
language commands in the part program. In this way, it is possible to maintain the relative
Transformations
3.9 Orientation
orientation not only at the block end, but also throughout the entire trajectory. The desired
orientation is achieved:
● By settable orientation methods with ORIPATH, specifying how interpolation is to be
performed relative to the path.
● Whether the tool orientation should either always run continuously with specifiable
deviations from the orientation relative to the path at a block transition, or whether the
orientation jump should be smoothed in a dedicated, inserted intermediate block. In this
case, path motion is stopped in the contour corner.
● There are two options of 6-axis transformations:
– Like tool rotation, tool orientation is interpolated relative to the path
(ORIPATH, ORIPATHS).
– The orientation vector is programmed and interpolated in the usual manner. The rotation
of the orientation vector is initiated relative to the path tangent using ORIROTC.
Note
Orientation relative to the path interpolation with ORIPATH or ORIPATHS
and ORIROTC, cannot be used in conjunction with the function "Orientation smoothing".
For this OSOF must be active in the part program. Otherwise alarm 10980 "Orientation
smoothing not possible" is generated.
Deviation from the desired orientation

During the interpolation of the block, the orientation may deviate more or less from the desired
relative orientation. The orientation achieved in the previous block is transferred to the
programmed end orientation using large circular interpolation. The resulting deviation from the
desired relative orientation has two main causes:
1. The end orientation of the previous block refers to the tangent and the surface normal vector
at the end of the previous block. Both can differ from this at the start of the current block.
Therefore, the start orientation in the current block does not have the same alignment with
respect to the tangent and the surface normal vector as at the end of the previous block.
2. Not only the tangent, but also the surface normal vector can change throughout the entire
block. This is the case, when circles, splines or polynomials are programmed for the
geometry axes, or when not only a start, but also an end value is programmed for the surface
normal vector. In this case, the tool orientation must change accordingly during the
interpolation of the block, in order to have the same reference to the path tangent and to the
surface normal vector in each path point.
Parameterization: Machine data
Setting for path relative orientation

With the machine data, the following decimal-coded functions are parameterized:
● Units digit: Orientation relative to the path
● Tens digit: Interpretation of the angle of rotation LEAD and TILT
Transformations
3.9 Orientation
● Hundred digit: Activation and definition of the direction of the lift motion for reorientation
during an active ORIPATH
● Thousands digit: Behavior of the path-relative orientation in the activation/deactivation
blocks of the tool offset
MD21094 $MC_ORIPATH_MODE = <value>
Val‐ Meaning
ue
Units digit
(Orientation relative to the path)
xxx0 The tool orientation only has the reference to the path tangent and to the surface normal vector
programmed with LEAD and TILT, at the end of the block. During the block, the orientation does
not follow the path tangent.
xxx1 In the complete block, the tool orientation has the reference to the path tangent and surface
normal vector programmed with LEAD and TILT.
Tens digit
(Interpretation of the angles of rotation LEAD and TILT)
For path-relative orientation, the coordinate system is formed by the vectors path tangent T and pro‐
grammed surface normal vector N.
Note 1: Programming the surface normal vector N
● at the block start: A4=… B4=… C4=…
● at the block end: A5=… B5=… C5=…
xx0x )1 1st rotation LEAD: Rotation of the orientation vector O around the
2
path normal vector BN ⇒ O'
$'

/( 2nd rotation TILT: Rotation of the new orientation vector O'
around the surface normal vector FN ⇒ O''
2
2
7&3
%1
%7
7,/7
%
xx1x )
1
1st rotation LEAD: Rotation of the orientation vector O around
the path normal vector BN ⇒ O'
2
$' 7
,/7 2nd rotation TILT: Rotation of the new orientation vector O'
/(

around the path tangent vector BT ⇒ O''
2
2
7&3
%
%7 1
Transformations
3.9 Orientation
xx2x )
1 1st rotation LEAD: Rotation of the orientation vector O and the
2 path tangent vector BT around the path normal vector BN ⇒ O'
( $'
2 / and B'T

7,/
7 2nd rotation TILT: Rotation of the new orientation vector O'
2 around the new path tangent vector B'T ⇒ O''
7&3

1
/(
$'
%
7
% %
7
xx3x )
1 1st rotation TILT: Rotation of the new orientation vector O
'
2
7
around the path tangent vector BT ⇒ O'
$
/( ,/
7
2nd rotation LEAD: Rotation of the new orientation vector O'
2 around the path normal vector BN ⇒ O"
2
7&3
% %
7 1
xx4x )
1
7,/7 1st rotation TILT: Rotation of the orientation vector O and the
2 path normal vector BN around the path tangent vector BT ⇒ O'
$'
2 and B'N
/(

2nd rotation LEAD: Rotation of the new orientation vector O'
2
around the new path normal vector B'N ⇒ O"
7&3
% %
7 7 1
,/
7
% %1
Hundreds digit
(Activation and definition of the direction of the lift motion for reorientation during an active ORIPATH)
Note
A programmed retraction/lift motion is only executed, for:
● Once digit == 1 AND
● Length of the lift vector ≠ 0.0
x0xx No lift motion is executed.
x1xx Lift motion is executed in the direction of the programmed lift vector in the toolcoordinate system.
The lift vector refers to the coordinate system defined by the actual tool direction (z coordinate)
and the orientation change (x coordinate).
x2xx Lift motion is executed in the direction of the programmed lift vector in the workpiececoordinate
system. The lift vector refers to the coordinate system that is defined by the active plane (z
coordinate is the surface normal vector of the active plane) and the orientation change (x coor‐
dinate).
Thousands digit
(Behavior of the path-relative orientation in the activation/deactivation blocks of the tool offset)
Transformations
3.9 Orientation
0xxx The path-relative orientation is also maintained in activation or deactivation blocks of the tool
offset.
1xxx The path-relative orientation is not maintained in activation or deactivation blocks of the tool
offset.
Note
The tool orientation normally remains constant in the activation or deactivation blocks of the tool
offset. However, in these blocks it is permitted to program a tool orientation, which is then
traversed through in these blocks. However, programming the orientation in these blocks is only
possible with vectors; it is not permitted to program rotary axis positions.
Address names for the lift vector components

The address names for the lift vector components are defined using machine data:
MD10624 $MN_ORIPATH_LIFT_VECTOR_TAB[ <vector component> ] = <name>
Example with standard data

Machine data
$MN_ORIPATH_LIFT_VECTOR_TAB[ 0 ] = "A8" ; x coordinate
$MN_ORIPATH_LIFT_VECTOR_TAB[ 1 ] = "B8" ; y coordinate
$MN_ORIPATH_LIFT_VECTOR_TAB[ 2 ] = "C8" ; z coordinate
Programming
ORIPATHS A8=X_KOORD B8=Y_KOORD C8=Z_KOORD
Note
Naming convention
The rules defined by MD20080 $MC_AXCONF_CHANAX_NAME_TAB should be complied
with for axis identifiers.
Address names for the safety factor for orientation change

Normally the retracting movement is performed simultaneously to the orientation change. The
address name for safety factor R can be defined using machine data:
MD10626 $MN_ORIPATH_LIFT_FACTOR_NAME = "<name>"
If safety factor R is greater than 0.0, then the orientation is only changed if the tool is traversed
by safety clearance S in the direction of the lift vector. Safety clearance S is calculated as
follows:
S = R * lift vector amount; definition range of factor R: 0 ≤ R < 1
Example with standard data

Machine data
$MN_ORIPATH_LIFT_FACTOR_NAME = "ORIPLF"
Programming
ORIPATHS A8=X_KOORD B8=Y_KOORD C8=Z_KOORD ; lift vector
ORIPLF=0.1 ; safety clearance = 0.1 * lift vector amount (A8,
B8, C8)
Transformations
3.9 Orientation
Note
Naming convention
The rules defined by MD20080 $MC_AXCONF_CHANAX_NAME_TAB should be complied
with for axis identifiers.
Parameterization: Setting data SD42670 (path section to the orientation smoothing)

Using the setting data, a path section is specified, within which, for a tool orientation step at a
block transition, it is possible to deviate from the programmed orientation path in order to
smooth the orientation path. If this path section is set too low, then it is possible that the path
velocity must be significantly reduced.
SD42670 $SC_ORIPATH_SMOOTH_DIST = <path length>
Response for path length 0.0

If a value of 0.0 is set as path length, then a dedicated intermediate block is inserted if
necessary to smooth the orientation path. The path is maintained until the orientation change
was executed in the intermediate block. However, the orientation change is then only
performed with continuous acceleration when ORIPATHS is active. Otherwise, from the start to
the end orientation, the orientation change is realized using linear large circle interpolation.
The tool can be lifted while the orientation axes are traversed to execute the orientation change.
The lift motion is activated via the hundreds digit of MD21094 $MC_ORIPATH_MODE (see the
paragraph above: "Parameterization: Machine data" > "Setting for path-relevant orientation").
The direction and path length of the lift motion is defined by the programmed lift vector (see
paragraph above: "Parameterization: Machine data" > "Address names for the lift vector
components"). If the length of this vector is exactly zero, no retracting movement is executed.
Normally the retracting movement is performed simultaneously to the orientation change.
However, a "Safety clearance" can also be programmed (see paragraph above:
"Parameterization: Machine data" > "Address names for the safety factor for orientation
change")
Parameterization: Setting data SD42672 (tolerance for orientation smoothing)

If just the path and the path velocity are continuous at a block transition but not the path
acceleration (e.g. tangential transition, straight line/circle), then regarding the orientation, only
the orientation path is continuous, not the orientation change. This results in a generally
undesirable velocity step in the orientation axes. In the setting data, a tolerance window can be
parameterized; within this tolerance window it is permissible that the traversed orientation path
deviates from the programmed orientation path in order to smooth the orientation path.
SD42672 $SC_ORIPATH_SMOOTH_TOL = <tolerance>
This type of orientation smoothing is only executed if the following applies:
● ORIPATHS is active AND
● SD42672 $SC_ORIPATH_SMOOTH_TOL > 0.0
Transformations
3.9 Orientation
Path-relative interpolation of the rotation (ORIROTC)

For 6-axis transformations, in addition to the path-relative interpolation of all of the components
of the tool orientation (rotation around each of the three axes of rotation), using ORIROTC it is
possible that only the rotation of the tool around the orientation vector relative to the path
tangent is interpolated.
The orientation vector can still be programmed with direction components or via Euler or RPY
angle - and the interpolation type defined using ORIVECT, ORIAXES, ORICONxx, ORICURVE
(see Chapter "Rotations of orientation vector (Page 223)").
3.9.6 Programming of orientation polynominals
Function
Orientation polynomials and even axis polynomials can be programmed with different types of
polynomials regardless of the type of polynomial interpolation currently active. This can be
applied to:
● Linear interpolation with G command G01
● Polynomial interpolation with G command TERMINAL
● Circular interpolation with G command G02, G03 or CIP
● Involute interpolation with G command INVCW or INVCCW
This enables a number of polynomials to be programmed for one contour at the same time.
Note
For additional information about programming axis polynomials with PO[X], PO[Y], PO[Z] and
orientation polynomials such as PO[PHI], PO[PSI], PO[THT] and PO[XH], PO[YH], PO[ZH],
see:
Further information
Programming Manual Production Planning
Two different types of orientation polynomials are defined:

● Polynomials for angles with reference to the plane defined by the start and end orientation
(type 1 orientation polynomials)
● Polynomials for coordinates in space of a reference point on the tool (type 2 orientation
polynomials).
Type 1 polynomials
Orientation polynomials of type 1 are polynomials for angles
PO[PHI]: Angle in the plane between start and end orientation

PO[PSI]: Angle describing the tilt of the orientation from the plane between start and end
orientation
Transformations
3.9 Orientation
Type 2 polynomials
Orientation polynomials of type 2 are polynomials for coordinates
PO[XH]: x coordinate of the reference point on the tool

PO[YH]: y coordinate of the reference point on the tool
PO[ZH]: z coordinate of the reference point on the tool
Polynomials for angle of rotation and rotation vectors

For 6-axis transformations, the rotation of the tool around itself can be programmed for tool
orientation. This rotation of a third rotary axis is described either by an angle of rotation or by
a rotation vector, which is perpendicular to the tool direction in the plane.
In addition, a polynomial for rotation with PO[THT} of the orientation vector can be programmed
in these three cases. This is always possible if the kinematic transformation applied, supports
rotary angles.
Angle of rotation with ORIPATH and ORIPATHS

With orientation interpolation relative to the path with ORIPATH or ORIPATHS, the additional
rotation can be programmed with the angle THETA=<...>. In addition, for this angle of
rotation, with PO[THT]=(...) As a maximum, 5th degree polynomial angles can be
programmed.
The 3 possible angles, i.e. lead angle, tilt angle and angle of rotation, have the following
meaning with respect to the rotation effect:
LEAD: Angle relative to the surface normal vector in the plane put up by the path tangent and
the surface normal vector.
TILT: Rotation of orientation in the z direction or rotation about the path tangent.
THE‐ Rotation around the tool direction. This is only possible when the tool orientation has
TA: a total of 3 degrees of freedom (see Section "Extension of the generic transformation
to 6 axes (Page 179)").
How the angles LEAD and TILT are to be interpreted, can be set with the following machine
data:
MD21094 $MC_ORIPATH_MODE (setting for path relative orientation ORIPATH)
In addition to the constant angles programmed with LEAD and TILT, polynomials can be
programmed for lead angle and tilt angle. The polynomials are programmed using the angles
PHI and PSI:
PO[PHI]=(a2,a3,a Polynomial for the LEAD angle

4,a5):
PO[PSI]=(b2,b3,b Polynomial for the TILT angle
4,b5):
For both angles, as a maximum, 5th degree polynomial angles can be programmed. The angle
values at the block end are programmed with the NC addresses LEAD=<...> or
TILT=<...>.
Transformations
3.9 Orientation
The higher polynomial coefficients, which are zero, can be omitted when programming. For
example PO[PHI] = (a2) programs a parabola for the lead angle LEAD.
Rotations of rotation vectors with ORIROTC

The rotation vector is interpolated relative to the path tangent with an offset that can be
programmed using the THETA angle.
For the offset angle, with PO[THT]=(c2,c3,c4,c5), as a maximum, a 5th degree
polynomial angle can be programmed.
Note
If ORIAXES is active, i.e. the tool orientation is interpolated via axis interpolation, the orientation
of the rotation vector relative to the path is only fulfilled at the end of the block.
For further information about programming, see:
Further information
Programming Manual Production Planning; Transformations, Interpolation type (ORIPATH,
ORIPATHS)
Boundary conditions
It is only useful to program orientation polynomials for specific interpolation types, which affect
both contour and orientation. A number of supplementary conditions must be met to avoid
illegal programming settings:
Orientation polynomials cannot be programmed,
● if ASPLINE, BSPLINE, CSPLINE spline interpolations are active.
Polynomials for type 1 orientation angles are possible for every type of interpolation except
spline interpolation, i.e. linear interpolation with rapid traverse G00 or with feedrate G01 and
polynomial POLY and circular/involute interpolation G02, G03, CIP, CT, INVCW and
INVCCW.
In contrast, type 2 orientation polynomials are only possible if linear interpolation with rapid
traverse G00 or with feedrate G01 or polynomial interpolation POLY is active.
● if the orientation is interpolated using ORIAXES axis interpolation.
In this case, polynomials can be programmed directly with PO[A] and PO[B] for orientation
axes A and B.
If ORICURVE is active, the Cartesian components of the orientation vector are interpolated and
only type 2 orientation polynomials are possible. However, type 1 orientation polynomials are
not permitted.
Only type 1 orientation polynomials are possible for large circle interpolation and taper
interpolation with ORIVECT, ORIPLANE, ORICONxxx. However, type 2 orientation
polynomials are not permitted.
Transformations
3.9 Orientation
Alarms
An illegally programmed polynomial is signaled with the following alarms:
Alarm 14136: Orientation polynomial is generally not allowed.

Alarm 14137: Polynomials PO[PHI] and PO[PSI] are not permitted.
Alarm 14138: Polynomials PO[XH], PO[YH], PO[ZH] are not permitted.
Alarm 14139: Polynomial for angle of rotation PO[THT] is not permitted.
3.9.7 System variable for tool orientation

The tool orientation can be read in various coordinate systems (BCS, WCS, SZS) via system
variables as well as also via OPI variables.
Tool orientation in BCS

$AC_TOOLO_ACT[] ; = 1, 2, 3 i-th component of the vector of the actual reference
orientation
$AC_TOOLO_END[] ; = 1, 2, 3 i-th component of the vector of the end orientation of
the actual block
$AC_TOOLO_DIFF Residual angle in degrees, i.e. this is the angle be‐
tween vectors $AC_TOOLO_END[] and
$AC_TOOLO_ACT[]
$VC_TOOLO[] ; = 1, 2, 3 i-th component of the vector of the actual orientation
$VC_TOOLO_DIFF Angle in degrees between reference and actual val‐
ue orientation
$VC_TOOLO_STAT Status variable for actual orientation
Indicates whether the actual orientation can be cal‐
culated. The following values are possible:
0 Actual orientation can be calculated.
-1 Actual orientation cannot be calculated, as the
presently active transformation cannot calcu‐
late these values in real time.
These system variables can always be read by the part program as well as in synchronized
actions. Write access operations are not permitted.
Note
The components of vectors $AC_TOOLO_ACT[], $AC_TOOLO_END[] and
$VC_TOOLO[] of the orientation are scaled so that the orientation vector has the absolute
value of 1.
Transformations
3.9 Orientation
Rotation vector in the BCS

For a 6-axis kinematics, in addition to the orientation of the tool, there is also a rotation of the
tool, which can be changed.

$P_TOOLROT[] ; = 1, 2, 3 i-th component of the actual rotation vector in the NC
program
$AC_TOOLR_ACT[] ; = 1, 2, 3 i-th component of the vector of the actual setpoint of
the orientation rotation
$AC_TOOLR_END[] ; = 1, 2, 3 i-th component of the vector of the setpoint of the
rotation at the end of the actual block
$AC_TOOLR_DIFF Residual angle in degrees, i.e. this is the angle be‐
tween vectors $AC_TOOLR_END[] and
$AC_TOOLR_ACT[]
$VC_TOOLR[] ; = 1, 2, 3 i-th component of the vector of the actual value of
the orientation rotation
$VC_TOOLR_DIFF Angle in degrees between the setpoint and actual
value of the orientation rotation
$VC_TOOLR_STAT Status variable for the actual value of the rotation
vector
Indicates whether the actual value of the rotation
vector can be calculated. The following values are
possible:
0 The actual value of the rotation vector can be
calculated.
-1 Actual value of the rotation vector cannot be
calculated, as the presently active transforma‐
tion cannot calculate these values in real time.
Orientation and rotation of the tool in the various coordinate systems (BCS, WCS, SZS)
Tool orientation

$P_TOOL_O[,<j>] ; =1, 2, 3 i-th component of the actual orientation vector in the
; <j> = 0, 1, 2 NC program in the coordinate system <j>
<j> = 0: BCS
<j> = 1: WCS
<j> = 2: SZS
$AC_TOOL_O_ACT[,< j>] ; =1, 2, 3 i-th component of the actual orientation vector in the
; <j> = 0, 1, 2 coordinate system <j>
$AC_TOOL_O_END[,< j>] ; =1, 2, 3 i-th component of the end orientation of the actual
; <j> = 0, 1, 2 block in the coordinate system <j>
$AC_TOOL_O_DIFF[<j>] ; <j> = 0, 1, 2 Residual angle of the orientation vector in degrees in
various coordinate systems <j>
Transformations
3.9 Orientation

$VC_TOOL_O[,<j>] ; =1, 2, 3 i-th component of the vector of the actual orientation
; <j> = 0, 1, 2 in various coordinate systems <j>
$VC_TOOL_O_DIFF[<j>] ; <j> = 0, 1, 2 Angle in degrees between reference and actual val‐
ue orientation in various coordinate systems <j>
Rotation vector (only for 6-axis kinematics)
System variable
$P_TOOL_R[,<j>] ; =1, 2, 3 i-th component of the actual rotation vector in the NC
; <j> = 0, 1, 2 program in the coordinate system <j>
<j> = 0: BCS
<j> = 1: WCS
<j> = 2: SZS
$AC_TOOL_R_ACT[,<j>] ; =1, 2, 3 i-th component of the actual rotation vector in the
; <j> = 0, 1, 2 coordinate system <j>
$AC_TOOL_R_END[,<j>] ; =1, 2, 3 i-th component of the rotation vector at the end of the
; <j> = 0, 1, 2 actual block in the coordinate system <j>
$AC_TOOL_R_DIFF[<j>] ; <j> = 0, 1, 2 Residual angle of the rotation vector in degrees in
various coordinate systems <j>
$VC_TOOL_R[,<j>] ; =1, 2, 3 i-th component of the actual value of the rotation
; <j> = 0, 1, 2 vector in various coordinate systems <j>
$VC_TOOL_R_DIFF[<j>] ; <j> = 0, 1, 2 Angle in degrees between reference and actual val‐
ue of the rotation vector in various coordinate sys‐
tems <j>
Boundary conditions
Not all transformations provide the actual value of the tool orientation in real time. In this case,
variables $VC_TOOLO[] or VC_TOOL_O[] and $VC_TOOLO_DIFF or
$VC_TOOL_O_DIFF cannot be calculated. The components of $VC_TOOLO[] or
$VC_TOOL_O[] are all zero, and status variable $VC_TOOLO_STAT supplies the value
"-1". The same is true for the actual values of the rotation vector $VC_TOOLR[] or
$VC_TOOL_R[,<j>].
Transformations
3.10 Orientation axes
3.10.1 Orientation axes
Directions of rotation
The directions around which axes are rotated are defined by the axes of the reference system.
In turn, the reference system is defined by ORIMKS and ORIWKS commands:
● ORIMKS : Reference system = Basic coordinate system
● ORIWKS: Reference system = Workpiece coordinate system
Order of rotation
The order of rotation for the orientation axes is defined by the following machine data:
MD21120 $MC_ORIAX_TURN_TAB_1[0..2] (definition of reference axes for ORI axes)
1. First rotation around the axis of the reference system, defined in the following machine data:
MD21120 $MC_ORIAX_TURN_TAB_1[0]
2. Second rotation around the axis of the reference system, defined in the following machine
data:
3. Third rotation around the axis of the reference system, defined in the following machine data:
Direction of the tool vector

The direction of the tool vector in the initial machine setting is defined in the following machine
data:
MD24580 $MC_TRAFO5_TOOL_VECTOR_1 (orientation vector direction) or
MD24680 $MC_TRAFO5_TOOL_VECTOR_2 (orientation vector direction)
Assignment to channel axes

Machine data MD24585 $MC_TRAFO5_ORIAX_ASSIGN_TAB_1[0..2] (ORI/channel
assignment Transformation 1) are used to assign up to a total of 3 virtual orientation axes to the
channel, which are set as input variables in machine data $MC_TRAFO_AXES_IN_n[4..6] (axis
assignment for Transformation n).
For assigning channel axes to orientation axes, the following applies:
● $MC_TRAFO5_ORIAX_ASSIGN_TAB_n[0] = $MC_TRAFO_AXES_IN_n[4]
Transformations
Orientation transformation 1:
MD24585 $MC_TRAFO5_ORIAX_ASSIGN_TAB_1[n] n = channel axis [0..2]
Orientation transformation 2:
MD24685 $MC_TRAFO5_ORIAX_ASSIGN_TAB_2[n] n = channel axis [0..2]
transformation [1..4]
MD24110 $MC_TRAFO5_AXES_IN_1[n] (axis assign‐ n = channel axis [0..7]
ment for transformation)
to
MD24410 $MC_TRAFO5_AXES_IN_4[n] (axis assign‐
ment for transformation 4)
transformation [5..8]
MD24432 $MC_TRAFO5_AXES_IN_5[n] (axis assign‐ n = channel axis [0..7]
ment for transformation 5)
to
MD24462 MC_TRAFO5_AXES_IN_8[n] (axis assignment
for transformation 8)
Example
For orientation axes, see Chapter "Example for orientation axes (Page 240)".
3.10.2 JOG mode
Preconditions
Orientation axes can only be traversed in the jog operating mode when the following
preconditions are satisfied:
● The orientation axis must be defined as such, that is, a value must be set in the following
machine data:
MD24585 $MC_TRAFO5_ORIAX_ASSIGN_TAB (ORI/channel axis assignment
Transformation 1)
● A transformation must be active (TRAORI).
Traversing using traverse keys

When using the traverse keys to move an axis continuously or incrementally, it must be noted
that only one orientation axis can be moved at a time.
Alarm 20062 "Channel 1 axis 2 already active" is output if more than one orientation axis is
traversed.
Traversing using handwheels

More than one orientation axis can be moved simultaneously using handwheels.
Transformations
Velocity
When orientation axes are traversed manually, the channel-specific feedrate override switch or
the rapid traverse override switch in rapid traverse override applies.
Normally, velocities when traversing in the jog mode have always been derived from the
machine axis velocities. However, for geometry and orientation axes, there is not necessarily
a direct assignment to a particular machine axis. This is the reason that dedicated machine data
exist for geometry axes and orientation axes, which allow velocities to be separately specified:
● MD21150 $MC_JOG_VELO_RAPID_ORI[n] (conventional rapid traverse for ORI axes)
● MD21155 $MC_JOG_VELO_ORI[n] (conventional ORI axis velocity)
● MD21160 $MC_JOG_VELO_RAPID_GEO[n] (conventional rapid traverse for GEO axes)
● MD21165 $MC_JOG_VELO_GEO[n] (conventional GEO axis velocity)
Acceleration
The acceleration for orientation axes is set in machine data:
MD21170 $MC_ACCEL_ORI[n] (acceleration for orientation axes)
3.10.3 Programming for orientation transformation

The values can only be programmed in conjunction with an orientation transformation.
Programming of orientation
Orientation axes are programmed by means of axis names A2, B2 and C2.
Euler and RPY values are distinguished on the basis of G-group 50:
● ORIEULER:
Orientation programming on the basis of Euler angles (default)
● ORIRPY:
Orientation programming via RPY angles
● ORIVIRT1:
Orientation programming on the basis of virtual orientation axes (definition 1)
● ORIVIRT2:
Orientation programming on the basis of virtual orientation axes (definition 2)
The type of interpolation is distinguished on the basis of G-group 51:
● ORIAXES:
Orientation programming of linear interpolation of orientation axes or machine axes
● ORIVECT:
Orientation programming of large circle interpolation of orientation axes (interpolation of the
orientation vector)
Transformations
Machine data MD21102 $MC_ORI_DEF_WITH_G_CODE (definition of ORI axes via G

command) is used to specify whether MD21100 $MC_ORIENTATION_IS_EULER (angle
definition for orientation programming) is active (default) or G group 50.
The following four variants are available for programming orientation:
1. A, B, C:
Machine axis parameter designation
2. A2, B2, C2:
Angle programming of virtual axes
3. A3, B3, C3:
Vector component designation
4. LEAD, TILT:
Specification of lead and side angles with reference to path and surface
Further information
Programming Manual Fundamentals
Note
The four variants of orientation programming are mutually exclusive. If mixed values are
programmed, alarm 14130 or alarm 14131 is generated.
Exception:
For 6 axis kinematics with a 3rd degree of freedom for orientation, C2 may also be programmed
for variants 3 and 4. C2 in this case describes the rotation of the orientation vector about its own
axis.
Example
For orientation axes for kinematics with 6 or 5 transformed axes, see Section "Example for
orientation axes (Page 240)".
Interpolation type
The following machine data is used to specify which interpolation type is used:
MD21104 $MC_ORI_IPO_WITH_G_CODE (G command for orientation interpolation):
● ORIMKS or ORIWKS
● G group 51 with the commands ORIAXES or ORIVECT
– ORIAXES:
Linear interpolation of machine axes or orientation axes.
– ORIVECT:
Orientation is controlled by the orientation vector being swiveled in the plane spanned by
the start and end vectors (large circle interpolation). With 6 transformation axes a
rotation around the orientation vector is executed in addition to the swivel movement.
With ORIVECT the orientation axes are always traversed on the shortest possible path.
Transformations
Range of values
Value range for orientation axes:
● 180 degrees < A2 < 180 degrees
● 90 degrees < B2 < 90 degrees
● 180 degrees < C2 < 180 degrees
All possible rotations can be represented with this value range. Values outside the range are
normalized by the control system to within the range specified above.
Feedrate when programming ORIAXES

Feedrate for an orientation axis can be limited via the FL[ ] instruction (feed limit).
3.10.4 Programmable offset for orientation axes
How the programmable offset works

The additional programmable offset for orientation axes acts in addition to the existing offset
and is specified when transformation is activated. Once transformation has been activated, it
is no longer possible to change this additive offset and no zero offset will be applied to the
orientation axes in the event of an orientation transformation.
The programmable offset can be specified in two ways.
1. Direct programming of the offset with TRAORI() when transformation is activated.
2. Automatic transfer of the offset from the zero offset active for the orientation axes when
transformation is activated. This automatic transfer is configured via machine data.
Programming offset directly

When transformation is activated, the offset can be programmed directly as TRAORI(n, x, y, z,
a, b) TRAORI(n, x, y, z, a, b) . The following parameters are available as an option:
n: Number of transformation n = 1 or 2
x, y, z Components of the vector for the basic orientation of the tool (generic 5-axis
transformation only).
a, b: Offset for rotary axes
These optional parameters can be omitted. However, if they are used for programming
purposes, the correct sequence must be observed. If for example only one rotary axis offset is
to be entered, TRAORI(,,,, a, b) is to be programmed.
For further information about programming, please see:
Further information
Transformations
Programming offset automatically

As the offset is transferred automatically from the currently active zero offset on the orientation
axes, the effects of zero offset on rotary axes are always the same, both with and without active
transformation. Automatic take-over of offset from zero offset is possible via machine data
MD24590 $MC_TRAFO5_ROT_OFFSET_FROM_FR_1 = TRUE (Offset of rotary
transformation axes from NPV) for the first machine data, or MD24690
$MC_TRAFO5_ROT_OFFSET_FROM_FR_2 = TRUE (Offset of rotary transformation axes
from NPV) for the second transformation in the channel.
Note
There is no difference between a zero offset on the orientation axes programmed during active
transformation and the previous offset.
If automatic transfer of offset has been activated and a rotary axis offset is programmed at the
same time, the programmed offset value takes priority.
Orientable toolholder with additive offset

On an orientable toolholder, the offset for both rotary axes can be programmed with the system
variables $TC_CARR24 and $TC_CARR25. This rotary axis offset can be transferred
automatically from the zero offset effective at the time the orientable toolholder was activated.
Automatic transfer of offset from zero offset is made possible via the following machine data:
MD21186 $MC_TOCARR_ROT_OFFSET_FROM_FR = TRUE (offset of TOCARR rotary axes
from NPV)
Note
For more information about orientable toolholders, please see:
Further information
Function Manual Tools; Tool offset
3.10.5 Orientation transformation and orientable tool holders
Note
Orientation transformation and orientable tool holders can becombined.
The resulting orientation of the tool is produced by linking the orientation transformation and the
orientable tool holder.
Transformations
3.10.6 Modulo display of orientation axes
Function
The positions of orientation axes can be displayed for the BCS and WCS display in a settable
modulo area. Whether the machine axes are linear or rotary is not relevant in this context. This
means that this display option can be enabled even for normal generic 5/6-axis transformation.
Requirements
● Orientation axes must be available. This is the case if an orientation transformation is active
(e.g. generic 5-/6-axis transformation).
● The following machine data must also be set for OEM transformations:
MD24585 $MC_TRAFO5_ORIAX_ASSIGN_TAB_1[0..2]
Parameterization
The modulo display of orientation axes is activated as follows:
MD21132 $MC_ORI_DISP_IS_MODULO[0...2] = TRUE
The modulo range is defined with the help of the following machine data:
● MD21134 $MC_ORI_MODULO_RANGE[0...2]
(Size of the modulo range for the display of the orientation axes)
● MD21136 $MC_ORI_MODULO_RANGE_START[0...2]
(Starting position of the modulo range for the display of the orientation axes)
Please note the following:
● The machine data become effective with NEWCONF.
● The machine data does not have any influence or effects on:
– any axis positions that can be programmed for these axes.
– The traversing movements of these axes.
– The display of the MCS values of these axes
Transformations
3.11 Orientation vectors
3.11.1 Polynomial interpolation of orientation vectors
Programming of polynomials for axis motions

The rotary axes are normally subjected to linear interpolation in case of orientation changes
with the help of rotary axis interpolation. However, it is also possible to program the polynomials
as usual for the rotary axes. This allows a generally more homogeneous axis motion to be
produced.
Note
Further information about programming polynomial interpolation with POLY and on
interpolation of orientation vectors is given in:
Further information
Programming Manual; Advanced
A block with POLY is used to program polynomial interpolation. Whether the programmed
polynomials are then interpolated as polynomial, depends on whether the G command POLY
is active or not:
● The G command is not active: The programmed axis end points are traversed linearly.
● The G command is active: The programmed polynomials are interpolated as polynomials.
MD10674
Using machine data MD10674 $MN_PO_WITHOUT_POLY = FALSE
(polynomial can be programmed without G command POLY), it can be set as to whether the
following programming is possible:
● PO[...] or PO(...) is possible only if POLY is active, or
● PO[ ] or PO( ) polynomials are also possible without active G command POLY.
As default, MD10674: PO_WITHOUT_POLY = FALSE set and with MD10674
$MN_PO_WITHOUT_POLY = TRUE the following programming is always possible:
● PO[...] = (...), regardless of whether POLY is active or not.
Orientation polynomials can be programmed in conjunction with different interpolation types
and are described in Section "Programming of Orientation Polynomials".
Transformations
POLYPATH:
In addition to the modal G command POLY, with the predefined subprogram
POLYPATH(argument), polynomial interpolation can be selectively activated for various axis
groups. The following arguments are allowed for the activation of polynomial interpolation
("AXES"): For all path axes and supplementary axes

("VECT"): For orientation axes
("AXES", "VECT"): For path axes, supplementary axes and orientation axes
(without argument): deactivates polynomial interpolation for all axis groups
Normally, the polynomial interpolation is activated for all axis groups.
Programming of orientation vectors

An orientation vector can be programmed in each block. If polynomials are programmed for the
orientation, the interpolated orientation vector is generally turned not in the plane between start
and end vector, but it can be rotated at random from this plane.
Orientation vectors can be programmed as follows:
1. Programming of rotary axis positions with A, B and C or with the actual rotary axis names.
2. Programming in Euler angle or RPY angle via A2, B2, C2
3. Programming of the direction vector via A3, B3, C3.
4. Programming using lead angle LEAD and tilt angle TILT.
Selection of type of interpolation

The type of interpolation of orientation axes is selected with G command of group 51 and is
independent of the programming type of the end vector:
● ORIAXES: Linear interpolation of the machine axes or using polynomials for active POLY or
● ORIVECT: Interpolation of the orientation vector using large circle interpolation
If ORIAXES is active, the interpolation of the rotary axis can also take place using polynomials
like polynomial interpolation of axes with POLY .
On the other hand, if ORIVECT is active, "normal" large circle interpolation is carried out
through linear interpolation of the angle of the orientation vector in the plane that is defined by
the start and end vector.
Polynomials for 2 angles

Additional programming of polynomials for 2 angles that span the start vector and end vector
can also be programmed as complex changes in orientation with ORIVECT .
The two PHI and PSI angles are specified in degrees.
POLY Activation of polynomial interpolation for all axis groups.

POLYPATH ( ) Activation of polynomial interpolation for all axis groups. "AXES" and
"VECT" are possible groups.
Transformations
The coefficients an and bn are specified in degrees.

PO[PHI]=(a2, a3, a4, The angle PHI is interpolated according to PHI(u) = a0 + a1*u + a2*u2 +
a5) a3*u3+ a4*u4 + a5*u5.
PO[PSI]=(b2, b3, b4, The angle PHI is interpolated according to PSI(u) = b0 + b1*u + b2*u2 +
b5) b3*u3+ b4*u4 + b5*u5.
PL Length of the parameter interval where polynomials are defined. The
interval always starts at 0.
Theoretical value range for PL: 0.0001 ... 99999.9999
The PL value applies to the block that contains it. PL = 1 is applied if no
PL value is programmed.
Rotation of the orientation vector

Changes in orientation are possible with ORIVECT independent of the type of end vector
programming. The following situations apply:
Example 1: Components of end vectors are programmed directly.
N... POLY A3=a B3=b C3=c PO[PHI] = (a2, a3, a4, a5) PO[PSI] = (b2, b3, b4, b5)
Example 2: The end vector is determined by the position of the rotary axes.
N... POLY Aa Bb Cc PO[PHI] = (a2, a3, a4, a5) PO[PSI] = (b2, b3, b4, b5)
The angle PHI describes the rotation of the orientation vector in the plane between start and
end vectors (large circle interpolation, see figure below). The orientation is interpolated exactly
as in Example 1.
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Figure 3-23 Rotation of the orientation vector in the plane between start and end vector
Transformations
PHI and PSI angle

Programming of polynomials for the two angles PO[PHI] and PO[PSI] is always possible.
Whether the programmed polynomials are actually interpolated for PHI and PSI depends on:
● POLYPATH("VECT") and ORIVECT are active, then the polynomials will be interpolated.
● If POLYPATH("VECT") and ORIVECT are not active, the programmed orientation vectors
are traversed at the end of the block by a "normal" large circle interpolation. This means that
the polynomials for the two angles PHI and PSI are ignored in this case.
6WDUW (QG
3+,
36,
Figure 3-24 Movement of the orientation vector in plan view
The angle PSI can be used to generate movements of the orientation vector perpendicular to
large circle interpolation plane (see previous figure).
Maximum polynomials of the 5th degree permitted

As a maximum, 5th degree polynomials can be programmed for the PHI and PSI angles. Here
the constants and linear coefficient are defined by the initial value or end value of the orientation
vector.
Higher degree coefficients can be omitted from the coefficient list (..., ....) if these are all equal
to zero.
The length of the parameter interval in which the polynomials are defined can also be
programmed with PL.
Special situations
If no polynomial for angle PSI is programmed, the orientation vector is always interpolated in
the plane defined by the start and end vector.
The PHI angle in this plane is interpolated according to the programmed polynomial for PHI. As
a result the orientation vector moves through a "normal" large circle interpolation in the plane
between the start and end vector and the movement is more or less irregular depending on the
programmed polynomial.
Transformations
In this way, the velocity and acceleration curve of the orientation axes can be influenced within
a block, for example.
Note
Further information on polynomial interpolation for axis motion and general programming is
given in:
Further information
Programming Manual; Advanced
Boundary conditions
Polynomial interpolation of orientation vectors is only possible for control variants in which the
following functions are included in the functional scope:
● Orientation transformation
● Polynomial interpolation
3.11.2 Rotations of orientation vector
Functionality
Changes in tool orientation are programmed by specifying an orientation vector in each block,
which is to be reached at the end of the block. The end orientation of each block can be
programmed in the following way:
1. Programming the vector directly, or
2. Programming the rotary axis positions.
The second option depends on the machine kinematics. Interpolation of the orientation vector
between the start and end values can also be modified by programming polynomials.
Programming of orientation directions

The following options are available for programming tool orientation:
1. Direct programming of rotary axis positions (the orientation vector is derived from machine
kinematics).
2. Programming in Euler angles via A2, B2, C2 (angle C2 is irrelevant).
3. Programming in RPY angles via A2, B2, C2.
4. Programming the direction vector via A3, B3, C3 (the length of the vector is irrelevant).
Switching between Euler and RPY angle programming can be selected via the following
machine data or via the G commands ORIEULER and ORIRPY :
MD21100 $MC_ORIENTATION_IS_EULER (angle definition for orientation programming)
Transformations
Programming of orientation direction and rotation

While the direction of rotation is already defined when you program the orientation with RPY
angles, additional parameters are needed to specify the direction of rotation for the other
orientations:
1. Direct programming of the rotary axes
A supplementary rotary axis for direction of rotation has to be defined.
2. Programming in Euler angles via A2, B2, C2
Angle C2 must be programmed additionally. The complete orientation is thus defined,
including tool rotation.
3. Programming in RPY angles via A2, B2, C2
Additional settings are not required.
4. Programming of the direction vector via A3, B3, C3
The rotation angle is programmed with THETA=<value>.
Note
The following cases do not allow for a programmed rotation:
Multiple programming of the direction of rotation is not allowed and results in an alarm. If the
Euler angle C2 and the angle of rotation THETA are programmed simultaneously, the
programmed rotation is not executed.
If machine kinematics are such that the tool cannot be rotated, any programmed rotation is
ignored. This is the case with a normal 5-axis machine, for example.
Rotation of the orientation vector

The following options are available for interpolating rotation of the orientation vector by
programming the vector directly:
● Linear interpolation, i.e. the angle between the current rotation vector and the start vector is
a linear function of the path parameter.
● Non-linear due to additional programming of a polynomial for the angle of rotation q of
maximum 5th degree, in the form:
PO[THT] = (d2, d3, d4, d5)
Interpolation of the angle of rotation

Higher degree coefficients can be omitted from the coefficient list (..., ....) if these are all equal
to zero.
In such cases, the end value of the angle and the constant and linear coefficient dn of the
polynomial cannot be directly programmed.
Linear coefficient dn is defined by the end angle qe, and is specified in degrees.
End angle qe is derived from the programming of the rotation vector.
Start angle qs is defined from the start value of the rotation vector, resulting from the end value
of the previous block. The constant coefficient of the polynomial is defined by the start angle of
the polynomial.
Transformations
The rotation vector is always perpendicular to the actual tool orientation and forms the angle
THETA in conjunction with the basic rotation vector.
Note
When configuring the machine, the direction in space in which the rotation vector points at a
specific angle of rotation can be defined, when the tool is in the basic orientation.
Formula
In general, the angle of rotation is interpolated with a 5th degree polynomial:
θu=θs+d1u+d2u2+d3u3+d4u4+d5u5 (14)
For parameter interval 0 ... 1, this produces the following values for linear coefficients:
d1=θe −θs −d2−d3−d4−d5 (15)
Interpolation of the rotation vector

The programmed rotation vector can be interpolated in the following way, using modal G
commands:
● ORIROTA (orientation rotation absolute):
The angle of rotation THETA is interpreted with reference to an absolute direction in space.
The basic direction of rotation is defined by machine data.
● ORIROTR (orientation rotation relative):
Angle of rotation THETA is interpreted relative to the plane defined by the start and end
orientation.
● ORIROTT (orientation rotation tangential):
Angle of rotation THETA is interpreted relative to the change in orientation. This means the
rotation vector interpolation is tangential to the change in orientation for THETA=0.
This is only different to ORIROTR, if the change in orientation does not take place in one
plane. This is the case if, for the orientation, at least one polynomial was programmed for "tilt
angle" PSI. An additionally programmed angle of rotation THETA can then be used to
interpolate the rotation vector such that it always forms a specific angle referred to the
change in orientation.
Activating rotation
A rotation of the orientation vector is programmed with identifier THETA. The following
programming options are available:
THETA=<value>: Programming an angle of rotation that is reached at the end of the

block.
THETA = qe Programmed angle qe can be interpreted as absolute angle (G90 is
active) - as well as also relative angle (G91 is active incremental
dimension).
THETA = AC(...) Non-modal switchover to absolute dimensions
Transformations
THETA = IC(...) Non-modal switchover to incremental dimensions

PO[THT] = (...) Programming a polynomial for rotation angle THETA.
Angle THETA is programmed in degrees.
Interpolation of the rotation vector is defined by modal G commands:
ORIROTA Angle of rotation to an absolute direction of rotation
ORIROTR Angle of rotation relative to the plane between the start and end
orientation
ORIROTT Angle of rotation relative to the change of the orientation vector tan‐
gential rotation vector to the orientation change
ORIROTC Angle of rotation relative to the change of the orientation vector tan‐
gential rotation vector to the path tangent
PL Length of the parameter interval on which the polynomials are de‐
fined. The interval always starts at 0. PL = 1 is active, if no PL value
is programmed.
These G commands define the reference direction of the angle of rotation. The meaning of the
programmed angle of rotation changes accordingly.
The angle of rotation or rotation vector can only be programmed in all four modes if the
interpolation type ORIROTA is active.
1. Rotary axis positions
2. Euler angle via A2, B2, C2
3. RPY angle via A2, B2, C2
4. Direction vector via A3, B3, C3
If ORIROTR or ORIROTT is active, the angle of rotation can only be programmed directly with
THETA.
The other programming options must be excluded in this case, since the definition of an
absolute direction of rotation conflicts with the interpretation of the angle of rotation in these
cases. Possible programming combinations are monitored and an alarm is output if applicable.
A rotation can also be programmed in a separate block without an orientation change taking
place. In this case, ORIROTR and ORIROTT are irrelevant. In this case, the angle of rotation
is always interpreted with reference to the absolute direction (ORIROTA).
A programmable rotation of the orientation vector is only possible when an orientation
transformation (TRAORI) is active.
A programmed orientation rotation is only interpolated if the machine kinematics allow rotation
of the tool orientation (e.g. 6-axis machines).
Transformations
3.11.3 Extended interpolation of orientation axes
Functionality
To execute a change in orientation along the peripheral surface of a cone located in space, it
is necessary to perform an extended interpolation of the orientation vector. The vector around
which the tool orientation is to be rotated must be known. The start and end orientation must
also be specified. The start orientation is given by the previous block and the en orientation
must either be programmed or defined by other conditions.
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Figure 3-25 Change in orientation of the peripheral surface of a cone located in space
Required definitions
Generally, the following data is required:
● The start orientation is defined by the end orientation of the previous block.
● The end orientation is defined either by specifying the vector (with A3, B3, C3), the Euler
angles or RPY angles (with A2, B2, C2) or by programming the positions of the rotary axis
(with A, B, C).
● The rotary axis of the taper is programmed as a (normalized) vector with A6, B6, C6.
● The opening angle of the cone is programmed degrees with the identifier (nutation angle).
The value range of this angle is limited to the interval between 0 degrees and 180 degrees.
The values 0 degrees and 180 degrees must not be programmed. If an angle is
programmed outside the valid interval, an alarm is generated.
In the special case where NUT = 90 degrees, the orientation vector in the plane is
interpolated perpendicular to the direction vector (large circle interpolation).
The sign of the programmed opening angle specifies whether the traversing angle is to be
greater or less than 180 degrees.
In order to define the cone, the direction vector or its opening angle must be programmed.
Both may not be specified at the same time.
● A further option is to program an intermediate orientation that lies between the start and end
orientation.
Transformations
Programming
ORIPLANE orientation interpolation in a plane: Interpolation in a plane

(large circle interpolation)
ORICONCW orientation interpolation on a cone clockwise: Interpolation on
the peripheral surface of a cone in the clockwise direction
ORICONCCW orientation interpolation on a cone counter clockwise: Interpo‐
lation on the peripheral surface of a cone in the counter-clock‐
wise direction.
Programming of the direction vector is carried out using the identifiers A6, B6, C6 and is
specified as a (normalized) vector.
Note
Programming of an end orientation is not absolutely necessary. If no end orientation is
specified, a full outside cone with 360 degrees is interpolated.
The opening angle of the taper is programmed with NUT= <angle>, where the angle is specified
in degrees.
Note
An end orientation must be specified. A complete outside cone with 360 degrees cannot be
interpolated in this way. The sign of the opening angle defines whether the traversing angle is
to be greater or less than 180 degrees.
The identifiers have the following meanings:
NUT = +... Traverse angle smaller than or equal to 180 degrees

NUT = -... Traverse angle greater than or equal to 180 degrees
A positive sign can be omitted when programming.
Settings for intermediate orientation
ORICONIO orientation interpolation on a cone with intermediate orienta‐

tion: Interpolation on a conical peripheral surface with inter‐
mediate orientation setting
If this G command is active, it is necessary to specify an intermediate orientation with A7, B7,
C7 which is specified as a (normalized) vector.
Note
Programming of the end orientation is absolutely necessary in this case.
The change in orientation and the direction of rotation is defined uniquely by the three vectors
Start, End and Intermediate orientation.
Transformations
All three vectors must be different from each other. If the programmed intermediate orientation
is parallel to the start or end orientation, a linear large circle interpolation of the orientation is
executed in the plane that is defined by the start and end vector.
Angle of rotation and opening angle

The following may be programmed additionally for the angle of the cone:
PHI angle of rotation for orientation about the direction axis

PSI Opening angle of the cone
Besides this polynomials of the 5th degree (max.) can be programmed as follows:
PO[PHI] = (a2, a3, a4, a5) Constant and linear coefficients are defined by start and end ori‐
PO[PSI] = (b2, b3, b4, b5) entation respectively.
Further interpolation options

It is possible to interpolate the oreintation on a cone which connects tangentially to the previous
change of orientation. This orientation interpolation is achieved by programming the G
command ORICONTO.
ORICONTO orientation interpolation on a cone with tangential orientation:

Interpolation on a peripheral surface of the cone with tangen‐
tial transition
A further option for orientation interpolation is to describe the change in orientation through the
path of a 2nd contact point on the tool.
ORICURVE orientation interpolation with a second curve: Interpolation of

orientation with specification of motion of two contact points of
the tool.
The coordinates for the movement of the 2nd contact point of the tool must be specified. This
additional curve in space is programmed with XH, YH, ZH.
Besides the two end values, additional polynomials can be programmed in the following form:
PO[XH] = (xe, x2, x3, x4, x5): (xe, ye, ze) of the end point of the curve, and
PO[YH] = (ye, y2, y3, y4, y5): xi, yi, zi the coefficients of the polynomials
PO[ZH] = (ze, z2, z3, z4, z5): of the 5th degree maximum.
Transformations
This type of interpolation can be used to program points (G1) or polynomials (POLY) for the two
curves in space.
Note
Circles or involutes are specificaly not allowed. It is also possible to activate a spindle
interpolation with BSPLINE. The programmed end points of both curves in space are then
interpreted as nodes.
Other types of splines (ASPLINE and CSPLINE) and the activation of a compressor
(COMPON, COMPCURV, COMPCAD) are not permitted here.
The extended interpolation of orientations requires that all necessary orientation
transformations be considered, since these belong to the functional scope.
Activation
A change in orientation on any peripheral surface of a cone in space is activated with the G
command of group 51 through extended interpolation of the orientation vector, using the
following commands:
ORIPLANE Interpolation in a plane with specification of the end orientation

(same as ORIVECT)
ORICONCW Interpolation on a peripheral surface of a taper in clockwise
directionwith specification of the end orientation and taper di‐
rection or opening angle of the cone.
ORICONCCW Interpolation on the peripheral surface of a cone in the counter-
clockwise direction. Specification of the end orientation andt
cone direction or opening angle of the taper.
ORICONIO Interpolation on a peripheral surface of a cone with specifica‐
tion of end orientation and an intermediate orientation.
ORICONTO Interpolation on a peripheral surface of a cone with tangential
transition and specification of end orientation.
ORICURVE Interpolation of orientation with specification of motion of two
contact points of the tool.
ORIPATH Tool orientation in relation to the path
ORIPATHS Tool orientation in relation to the path, when, for example, a
kink in the orientation path, e.g. at a corner in the contour, is to
be smoothed (see Section "Path-relative orientation (ORI‐
PATH, ORIPATHS, ORIROTC) (Page 200)").
Transformations
3.12 Online tool length offset
Examples
Various changes in orientation are programmed in the following program example:

...
N10 G1 X0 Y0 F5000
N20 TRAORI ; orientation transformation active.
N30 ORIVECT ; interpolate tool orientation as vector
N40 ORIPLANE ; select large circle interpolation.
N50 A3=0 B3=0 C3=1
N60 A3=0 B3=1 C3=1 ; orientation in the Y/Z plane by 45
; degrees rotated, at the block end the
; orientation (0, 1 / (root of 2),
; 1 / (root of 2) is reached.
N70 ORICONCW ; the orientation vector is interpolated on a
; conical surface with direction
N80 A6=0 B6=0 C6=1 A3=1 B3=0 C3=1; (0, 0, 1) to the orientation
; (1 / (root of 2), 0, 1 / (root of 2)
; in the clockwise direction,
; the angle of rotation is 270 degrees.
; The tool orientation traverses a complete
N90 A6=0 B6=0 C6=1 ; rotation on the same peripheral surface of the
cone
...
Functionality
Effective tool length can be changed in real time so that the length changes are also considered
for changes in orientation of the tool. The system variable $AA_TOFF[<geometry axis name>]
includes tool length compensations in 3-D according to the three tool directions.
None of the tool parameters are changed. The actual compensation is performed internally by
means of transformations using an orientable tool length compensation.
The number of active compensation directions must be the same as the number of active
geometry axes. All offsets can be active at the same time.
Transformations
Application
The online tool length compensation function can be used for:
● Orientation transformations (TRAORI)
● Orientable tool carriers (TCARR)
Note
The online tool length offset is an option. This function is only practical in conjunction with
an active orientation transformation or an active orientable toolholder.
Further information
Function Manual Tools; Tool offset, orientable tool carriers
Block preparation
In the case of block preparation in run-in, the tool length offset currently active in the main run
is considered. In order to utilize the maximum permissible axis velocities as far as possible, it
is necessary to halt the block preparation with a stop preprocessing command (STOPRE) while
a tool offset is being generated.
The tool offset is always known at the time of run-in when the tool length offsets are not changed
after program start or if more blocks have been processed after changing the tool length offsets
than the IPO buffer can accommodate between run-in and main run. This ensures that correct
axis velocities are applied quickly.
The dimension for the difference between the currently active compensation in the interpolator
and the compensation that was active at the time of block preparation can be polled in the
system variable $AA_TOFF_PREP_DIFF[ ].
Note
Changing the effective tool length using online tool length offset produces changes in the
compensatory movements of the axes involved in the transformation in the event of changes
in orientation. The resulting velocities can be higher or lower depending on machine kinematics
and the current axis position.
MD21190 $MC_TOFF_MODE (operation of tool offset)

The following machine data can be used to set whether the content of the synchronization
variable $AA_TOFF[ ] is to be approached as an absolute value or whether an integrating
behavior is to take place:
MD21190 $MC_TOFF_MODE
The integrating behavior of $AA_TOFF[ ] allows 3D remote control. The integrated value is
available via the system variable $AA_TOFF_VAL[ ].
Transformations
The following machine data and setting data are available for configuring online tool length
compensation:
Machine data / setting data Meaning for online tool length offset
MD21190 $MC_TOFF_MODE The contents of $AA_TOFF[ ] are traversed as an
absolute value or integrated
MD21194 $MC_TOFF_VELO (speed online tool Speed of online tool length offset
offset)
MD21194 $MC_TOFF_ACCEL (acceleration on‐ Acceleration of online tool length offset
line tool offset)
SD42970 $SC_TOFF_LIMIT (upper limit of off‐ Upper limit of tool length offset value
set value $AA_TOFF)
With the acceleration margin, 20% is reserved for the overlaid movement of online tool length
offset, which can be changed via the following machine data:
MD20610 $MC_ADD_MOVE_ACCEL_RESERVE(acceleration margin for overlaid
movements)
Activation
The TOFFON instruction can be used to activate online tool length offset from the part program
for at least one tool direction, if the option is available. During activation an offset value can be
specified for the relevant direction of compensation and this is immediately traversed.
Example: TOFFON(Z, 25).
Repeated programming of the instruction TOFFON( ) with an offset causes the new offset to be
applied. The offset value is added to variables $AA_TOFF[ ] as an absolute value.
Note
For further information about programming plus programming examples, please see:
Further information
As long as online tool length offset is active, the VDI signal at the NC → PLC interface in the
following interface signal is set to 1:
DB21, ... DBX318.2 (TOFF active)
While a correction movement is active, the VDI → signal in the following interface signal is set
to 1:
DB21, ... DBX318.3 (TOFF movement active)
Reset
Compensation values can be reset with the TOFFOF( ) command. This instruction triggers a
preprocessing stop.
Accumulated tool length compensations are cleared and incorporated in the basic coordinate
system. The run-in is synchronized with the current position in main run. Since no axes can be
traversed here, the values of $AA_IM[ ] do not change. Only the values of the variables
Transformations
$AA_IW[ ] and $AA_IB[ ] are changed. These variables now contain the deselected share of
tool length compensation.
Once "Online tool length offset" has been deselected for a tool direction, the value of system
variable $AA_TOFF[ ] or $AA_TOFF_VAL[ ] is zero for this tool direction. The following interface
signal is set to 0:
DB21, ... DBX318.2 (TOFF active)
Alarm 21670
An existing tool length offset must be deleted via TOFFOF( ) so that alarm 21670 "Channel %1
block %2, illegal change of tool direction active due to $AA_TOFF active" is suppressed:
● When the transformation is deactivated with TRAFOOF
● On switch-over from CP to PTP travel.
● If a tool length offset exists in the direction of the geometry axis during geometry
replacement.
● If a tool length offset is present during change of plane.
● When changing from axis-specific manual travel in the JOG mode to PTP as long as a tool
length offset is active. There is no switchover to PTP.
Mode change
Tool length compensation remains active even if the mode is changed and can be executed in
any mode.
If a tool length compensation is interpolated on account of $AA_TOFF[ ] during mode change,
the mode change cannot take place until the interpolation of the tool length compensation has
been completed. Alarm 16907 "Channel %1 action %2 ALNX possible only in stop state" is
issued.
Behavior with REF and block search

Tool length offset is not considered during reference point approach REF in JOG mode.
The instructions TOFFON( ) and TOFFOF( ) are not collected and output in an action block
during block search.
System variable
In the case of online tool length offset, the following system variables are available to the user:
System variable Meaning for online tool length offset

$AA_TOFF[ ] Position offset in the tool coordinate system
$AA_TOFF_VAL[ ] Integrated position offset in the WCS
$AA_TOFF_LIMIT[ ] Query whether the tool length offset value is close to the limit
$AA_TOFF_PREP_DIFF[ ] Magnitude of the difference between the currently active value of
$AA_TOFF[ ] and the value prepared as the current motion block.
Transformations
3.13 Examples
Further information
List Manual System Variables
Boundary conditions
The online tool length offset function is an option and is available during "generic 5-axis
transformation" by default and for "orientable toolholders".
If the tool is not perpendicular to the workpiece surface during processing or the contour
contains curvatures whose radius is smaller than the compensation dimension, deviations
compared to the actual offset surface are produced. It is not possible to produce exact offset
surfaces with one tool length compensation alone.
3.13 Examples
3.13.1 Example of a 5-axis transformation
CHANDATA(1)
$MA_IS_ROT_AX[AX5] = TRUE
$MA_SPIND_ASSIGN_TO_MACHAX[AX5] = 0
$MA_ROT_IS_MODULO[AX5]=0
;-----------------------------------------------------------------------------------------------------
; general 5-axis transformation
;
; kinematics: 1. rotary axis is parallel to Z
; 2. rotary axis is parallel to X
; Movable tool
;-----------------------------------------------------------------------------------------------------
$MC_TRAFO_TYPE_1 = 20
$MC_ORIENTATION_IS_EULER = TRUE
$MC_TRAFO_AXES_IN_1[0] = 1
Transformations
3.13 Examples
$MC_TRAFO_GEOAX_ASSIGN_TAB_1[0]=1
$MC_TRAFO5_PART_OFFSET_1[0] = 0
$MC_TRAFO5_ROT_AX_OFFSET_1[0] = 0
$MC_TRAFO5_ROT_AX_OFFSET_1[1] = 0
$MC_TRAFO5_ROT_SIGN_IS_PLUS_1[0] = TRUE
$MC_TRAFO5_ROT_SIGN_IS_PLUS_1[1] = TRUE
$MC_TRAFO5_NON_POLE_LIMIT_1 = 2.0
$MC_TRAFO5_POLE_LIMIT_1 = 2.0
$MC_TRAFO5_BASE_TOOL_1[0] = 0.0
$MC_TRAFO5_BASE_TOOL_1[1] = 0.0
$MC_TRAFO5_BASE_TOOL_1[2] = 5,0
$MC_TRAFO5_JOINT_OFFSET_1[0] = 0.0
CHANDATA(1)
M17
Program example for general 5-axis transformation:

; Definition of tool T1
$TC_DP1[1,1] = 10 ; Type
$TC_DP2[1,1] = 0
$TC_DP3[1,1] = ;z length compensation vector G17
$TC_DP4[1,1] = 0. ; y
$TC_DP5[1,1] = 0. ; x
$TC_DP6[1,1] = 0. ; Radius
$TC_DP7[1,1] = 0
$TC_DP8[1,1] = 0
$TC_DP9[1,1] = 0
$TC_DP10[1,1] = 0
$TC_DP11[1,1] = 0
$TC_DP12[1,1] = 0
Transformations
3.13 Examples
Approach initial position:
N100 G1 x1 y0 z0 a0 b0 F20000 G90 G64 T1 D1 G17 ADIS=.5 ADISPOS=3
Orientation vector programming:
N110 TRAORI(1)
N120 ORIWKS
N130 G1 G90
N140 a3 = 0 b3 = 0 c3 = 1 x0
N150 a3 = 0 b3 =-1 c3 = 0
N160 a3 = 1 b3 = 0 c3 = 0
N170 a3 = 1 b3 = 0 c3 = 1
N180 a3 = 0 b3 = 1 c3 = 0
N190 a3 = 0 b3 = 0 c3 = 1
Euler angles program:
N200 ORIMKS
N210 G1 G90
N220 a2 = 0 b2 = 0 x0
N230 a2 = 0 b2 = 90
N240 a2 = 90 b2 = 90
N250 a2 = 90 b2 = 45
N260 a2 = 0 b2 =-90
N270 a2 = 0 b2 = 0
Axis programming:
N300 a0 b0 x0
N310 a45
N320 b30
TOFRAME:
N400 G0 a90 b90 x0 G90

N410 TOFRAME
N420 z5
N430 x3 y5
N440 G0 a0 b0 x1 y0 z0 G90
N500 TRAFOOF
m30
Transformations
3.13 Examples
3.13.2 Example of a 3-axis and 4-axis transformation
3.13.2.1 Example of a 3-axis transformation

Example: For the schematically represented machine (see "Figure 3-1 Schematic diagram of
3-axis transformation (Page 139)"), the 3-axis transformation can be projected as follows:

$MC_TRAFO_GEOAX_ASSIGN_TAB_n[0] = 1 ; Assignment of channel axes to geometry
axes
$MC_TRAFO_GEOAX_ASSIGN_TAB_n[1] = 0
$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
3.13.2.2 Example of a 4-axis transformation

Example: For the schematically represented machine (see "Figure 3-2 Schematic diagram of
a 4-axis transformation with moveable workpiece (Page 140)"), however, with an additional
axis (Y), the 4-axis transformation can be configured as follows:

$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
3.13.3 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.
Transformations
3.13 Examples
Machine data
; machine kinematics CA' with tool orientation in zero position in the z direction
$MC_TRAFO_TYPE_1 = 148
; angle of second rotary axis

$MC_TRAFO5_NUTATOR_AX_ANGLE_1 = 45
Program
; Definition of tool T1
$TC_DP1[1,1] = 120 ; Type
$TC_DP2[1,1] = 0 ;
$TC_DP3[1,1] = 20 ; Z length offset vector G17
$TC_DP4[1,1] = 8. ; Y
$TC_DP5[1,1] = 5. ; X
TRAORI(1) ; Activation of transformation

ORIMKS ; Orientation reference to MCS
G0 X1 Y0 Z0 A0 B0 F20000 G90 G64 T1 D1 G17
; Programming of direction vector
G1 G90
a3 = 0 b3 = 1 c3 = 0
; Programming in Euler angles
G1 G90
a2 = 0 b2 = 0 X0
; Programming of rotary axis motion

G1 X10 Y5 Z20 A90 C90
m30
References:
Programming Manual, Fundamentals
Transformations
3.13 Examples
3.13.4 Example for orientation axes

Example 1:
3 orientation axes for the 1st orientation transformation for kinematics with 6 transformed axes.
Rotation must be done in the following sequence:
● firstly about the Z axis.
● then about the Y axis and
● finally about the Z axis again.
The tool vector must point in the X direction.

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
CHANDATA(1)
M17
= =
= = $
<
&
%
& < <
%
$
<
;VWDUW
$ ;WDUJHW
;
% &
; ;
;
Figure 3-26 3 orientation axes for the 1st orientation transformation for kinematics with 6 transformed
axes
Example 2:
Transformations
3.13 Examples
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.
The tool vector must point in the Z direction.

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
CHANDATA(1)
M17
=
=
= &
$
% < <
%
$
<
%
$
;
;
;
Figure 3-27 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.
Further information
Programming Manual Advanced
Transformations
3.13 Examples
3.13.5 Examples for orientation vectors
3.13.5.1 Example for polynomial interpretation of orientation vectors
Orientation vector in Z-X plane

The orientation vector is programmed directly in the examples below. The resulting movements
of the rotary axes depend on the particular kinematics of the machine.

N10 TRAORI
N20 POLY ; Polynomial interpolation is possible.
N30 A3=0 B3=0 C3=1 ; Orientation in +Z direction (start vector)
N40 A3=1 B3=0 C3=0 ; Orientation in +X direction (end vector)
In N40, the orientation vector is rotated in the Z-X plane which is spanned by the start and end
vector. Here, the PHI angle is interpolated in a line in this plane between the values 0 and 90
degrees (large circle interpolation).
The additional specification of the polynomials for the two angles PHI and PSI means that the
interpolated orientation vector can lies anywhere between the start and end vector.
PHI angle using polynomial PHI

In contrast to the example above, the PHI angle is interpolated using the polynomial PHI(u) =
(90-10)u + 10*u2 between the values 0 and 90 degrees.
The angle PSI is not equal to zero and is interpolated according to the following polynomial:
PSI(u) = -10*u + 10*u2
The maximum "tilt" of the orientation vector from the plane between the start and end vector is
obtained in the middle of the block (u = 1/2).

N10 TRAORI
N20 POLY ; Polynomial interpolation is possible.
N30 A3=0 B3=0 C3=1 ; Orientation in +Z direction (start vector)
N40 A3=1 B3=0 C3=0 PO[PHI]=(10) ; in +X direction (end vector)
PO[PSI]=(10)
Transformations
3.13 Examples
3.13.5.2 Example of rotations of orientation vector
Rotations with angle of rotation THETA

In the following example, the angle of rotation is interpolated in linear fashion from starting value
0 degrees to end value 90 degrees. The angle of rotation changes according to a parabola or
a rotation can be executed without a change in orientation. tool orientation is rotated from the
Y direction to the X direction.

N10 TRAORI ; Activation of orientation transformation
N20 G1 X0 Y0 Z0 F5000 ;
; Tool orientation
N30 A3=0 B3=0 C3=1 THETA=0 ; In Z direction with angle of rotation 0
N40 A3=1 B3=0 C3=0 THETA=90 ; In X direction and rotation
; By 90 degrees
N50 A3=0 B3=1 C3=0 PO[THT]=(180,90) ; In Y direction and rotation
; To 180 degrees
N60 A3=0 B3=1 C3=0 THETA=IC(-90) ; Remains constant and rotation
; To 90 degrees
N70 ORIROTT ; Angle of rotation relative to
; change in orientation.
N80 A3=1 B3=0 C3=0 THETA=30 ; Rotation vector in angle
; 30 degrees to X-Y plane.
N40 Linear interpolation of angle of rotation from starting value 0 degrees to end value 90
degrees.
N50 The angle of rotation changes from 90 degrees to 180 degrees in accordance with the
parabola.
θ(u) = 90 + u2
N60 A rotation can also be programmed without a change in orientation taking place.
N80 Tool orientation is rotated from the Y direction to the X direction. The change in orientation
takes place in the X-Y plane and the rotation vector describes an angle of 30 degrees to this
plane.
3.13.6 Examples for generic axis transformations
3.13.6.1 Example of generic 5-axis transformation

The following example is based on a machine with rotatable tool on which the first rotary axis
is a C axis and the second a B axis (CB kinematics). The basic orientation defined in the
machine data is the bisecting line between the X and Z axes.
Transformations
3.13 Examples
Relevant machine data is as follows:
CHANDATA(1)
$MC_TRAFO_TYPE_1 = 24 ; General 5-axis transformation
; Rotatable tool
$MC_TRAFO5_AXIS1_1[0] = 0.0
$MC_TRAFO5_AXIS1_1[2] = 1,0 ; 1. Rotary axis is parallel to Z.
$MC_TRAFO5_AXIS2_1[1] = 1,0
$MC_TRAFO5_AXIS2_1[2] = 0.0 ; 2. Rotary axis is parallel to Y.
$MC_TRAFO5_BASE_ORIENT_1[0] = 1.0
$MC_TRAFO5_BASE_ORIENT_1[1] = 0,0
$MC_TRAFO5_BASE_ORIENT_1[2] = 1.0
M30
Example program:

N10 $TC_DP1[1,1] = 120 ; End mill
N20 $TC_DP3[1,1]= 0 ; Length offset vector
N30
N40 ; Definition of tool carrier
N50 $TC_CARR7[1] = 1 ; Component of the 1st rotary axis
; In the X direction
N60 $TC_CARR11[1] = 1 ; Component of the 2nd rotary axis
; In the Y direction
N70 $TC_CARR13[1] = -45 ; Angle of rotation of 1st axis
N80 $TC_CARR14[1] = 0 ; Angle of rotation of 2nd axis
N90
N100 X0 Y0 Z0 B0 C0 F10000 ORIWKS G17
N110 TRAORI() ; Selection of basic transformation orientation
; from the machine data
N120 C3=1 ; Orientation parallel to Z
; Set → B-45 C0
N130 T1 D1 ; Basic orientation is now parallel to Z
; Set → B0 C0
N150 G19 ; Basic orientation is now parallel to X
; Set → B-90 C0
N170 G17 TCARR=1 TCOABS ; Basic orientation is now angle-
; halving Y-Z
N180 A3=1 ; Orientation parallel to X
; Set → B-90 C-135
N190 B3=1 C3=1 ; Orientation parallel to
Transformations
3.13 Examples

; 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
3.13.6.2 Example of a generic 6-axis transformation
Call with parameterization using parameters

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

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.

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
Transformations
3.13 Examples

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
3.13.6.3 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
Transformations
3.14 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.
3.13.6.4 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.
3.14 Data lists
3.14.1 Machine data
3.14.1.1 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
3.14 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
3.14.1.2 Channelspecific machine data

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
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]
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
3.14 Data lists

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.]
24500 TRAFO5_PART_OFFSET_1[n] Offset vector for 5-axis transformation 1 [n = 0.. 2]
Transformations
3.14 Data lists

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
3.14 Data lists

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]
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
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
3.14.1.3 Channelspecific machine data

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
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
21106 CART_JOG_SYSTEM Coordinate system for Cartesian JOG
Transformations
3.14 Data lists

21108 POLE_ORI_MODE Behavior during large circle interpolation at pole position
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
Transformations
3.14 Data lists

24570 TRAFO5_AXIS1_1[n] Vector for the first rotary axis and the first orientation
transform. [n = 0.. 2]
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]
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]
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]
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
Transformations
3.14 Data lists

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
3.14.2 Setting data
3.14.2.1 General setting data
Number Identifier: $SN_ Description

41110 JOG_SET_VELO Geometry axes
41130 JOG_ROT_AX_SET_VELO Orientation axes
3.14.2.2 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
K12 transformation definitions with kinematic chains 4
4.1 Function description
4.1.1 Characteristics
In this chapter, a description is provided as to how transformations are mapped using a
kinematic chain and parameterized in the control system using system variables. The system
variables are retentatively saved in the NC and can be archived and/or read as "NC data" via
SINUMERIK Operate using the commissioning archive.
Transformations via kinematic chains

The machine kinematics relevant to kinematic transformations is described by two kinematic
chains:
● One chain points from the machine zero point (zero point of the world coordinate system) to
the workpiece reference point (part segment).
● The other chain points from the machine zero point to the tool reference point (tool
segment).
One of the two chains can also be empty (for pure table or tool kinematics).
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Both kinematic chains are merged internally into a single kinematic chain, which, by definition,
begins at the workpiece reference point and ends at the tool reference point.
Transformations
K12 transformation definitions with kinematic chains
Definition of the kinematic transformation

The definition of kinematic transformations via kinematic chains is used to standardize the
definition of the previous transformation types.
The following transformations are taken into consideration:
● TRAORI
– TRAORI_DYN; dynamic orientation transformation
– TRAORI_STAT; static orientation transformation
● TRANSMIT_K; face side transformation
● TRACYL_K; peripheral surface transformation
● TRAANG_K; oblique angle transformation
4.1.2 Definition of kinematic transformations

Transformations with kinematic chains are defined in two steps:
● Definition of the machine kinematics
● Definition of the transformation
Defining machine kinematics

The machine kinematics (geometry of the machine) is described via kinematic chains. For
detailed information, see Function Manual "Basic Functions", Section "Kinematic chains".
The relevant system variables are described in the Function Manual "Basic Functions", Section
"Kinematic chains". These system variables are structured according to the scheme $NK_...
Important system variables include:
System variable
$NK_NAME Name of the current element
$NK_NEXT Name of the next element
$NK_PARALLEL Defines a parallel kinematic chain. As a result, the second chain can be defined parallel to
the first chain.
$NK_TYPE Defines the type of the element, e.g. AXIS_LIN, AXIS_ROT, OFFSET, ROT_CONST,
SWITCH
$NK_OFF_DIR Defines the rotation vector relative to the machine axis
$NK_AXIS Name of the machine axis
$NK_A_OFF Defines the work offset of the assigned machine axis.
Transformations
Defining transformation
The description of the machine kinematics with kinematic chains is not sufficient to completely
specify a kinematic transformation. The transformations can be completely defined via system
variables with the $NT_... prefix. The system variables available for the transformation are
divided into the following parts:
● System variables that are relevant for all transformations.
● System variables that are only relevant for specific transformations.
You can find a complete list under System variables for general transformation types
(Page 278). Among other things, the following general system variables are available:
System variable Description

$NT_NAME Name of the transformation dataset.
$NT_TRAFO_INDEX Identifier for alternative transformation activation; a transformation defined with kinematic
chains can also be activated using the conventional language commands (e.g. TRAORI)
instead of the TRAFOON method.
$NT_TRAFO_TYPE Type of transformation (TRAORI_DYN, TRAORI_STAT, TRAANG_K, TRANSMIT_K,
TRACYL_K)
$NT_T_CHAIN_LAST_ELEM Name of the last element of the kinematic chain to the tool.
$NT_P_CHAIN_LAST_ELEM Name of the last element of the kinematic chain to the workpiece.
$NT_T_CHAIN_FIRST_ELEM Name of the first element in the tool chain
$NT_P_CHAIN_FIRST_ELEM Name of the first element of the workpiece chain
$NT_GEO_AX_NAME Names of the elements of the geometry axes. With $NT_GEO_AX_NAME, a maximum of
3 linear axes are referenced. The linear axes carry out the compensating movements
which result from the kinematic transformation.
$NT_ROT_AX_NAME Names of the elements of the orientation axes. With $NT_ROT_AX_NAME, a maximum of
3 linear axes are referenced.
$NT_CLOSE_CHAIN_T Reference element for closing the kinematic chain to the workpiece.
$NT_ROT_AX_OFFSET Position offset of a/the rotary axis for the active transformation.
$NT_CNTRL Control word
An orientation transformation is defined, for example, via the elements displayed in the graphic.
Transformations
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See also
Examples (Page 325)
4.1.3 Dynamic orientation transformation TRAORI_DYN

A dynamic orientation transformation is understood to mean a kinematic transformation in
which the movements of any rotary axes are compensated by compensation movements of a
maximum of three linear axes in such a way that the coordinates of the tool tip in the workpiece
coordinate system remain unchanged. The same applies for movements of additional
(redundant) linear axes.
The system variables that are especially used for orientation transformations are described
under Additive system variable for orientation transformation (Page 303).
The different orientation transformations are mapped via the dynamic orientation
transformation:
5-axis transformation
Different versions are possible for the 5-axis transformation, see 5-axis transformation
(Page 145). Generally this transformation is comprised of up to 3 linear axes and up to 2 rotary
axes.
Transformations
3 and 4-axis transformation

3 and 4-axis transformations are special cases of the 5-axis transformation, see 3-axis and 4-
axis transformations (Page 160). Possible versions are listed below:
Transformation Characteristics
3-axis transformation 2 translation axes (linear axes)
1 rotary axis
4-axis transformation 3 translation axes (linear axes)
1 rotary axis
Defining machine kinematics

The corresponding machine kinematics must be defined via a kinematic chain.
Linear axes (geometry axes)

The movements of the rotary axes are compensated via compensating movements of up to
three linear axes. The linear axes are defined via the kinematic chain as an element of the type
"AXIS_LIN". For the transformation, they are referenced with $NT_GEO_AX_NAME. The
geometry axes do not have to be vertical on top of one another and their position relative to one
another can be changed by means of rotary axes. However, the limitation that they cannot be
linearly dependent on one another applies.
The position of linear axes that are not defined as geometry axes is not changed by the
transformation.
Rotary and orientation axes

The rotary axes are defined via the kinematic chain as an element of the type "AXIS_ROT". For
the transformation, they are referenced with $NT_ROT_AX_NAME and are thus designated as
orientation axis. The position of these axes is assumed to be changeable to achieve a specific
orientation.
An offset from zero can be defined using system variable $NT_ROT_AX_OFFSET for the rotary
axes (1, 2, or 3) of the orientation transformation.
All of the other rotary axes are redundant rotary axes and are included in the calculation with
their current position values (constant rotations). Redundant machine axes (real rotary axes)
must be located in the kinematic chain in front of the first orientation axis. Additional redundant
rotary axes (manual rotary axes or rotating machine axes) can be inserted at any point.
The number of rotary axes is restricted to 6.
Transformations
Tool orientation
The tool orientation can be specified as vector. The system variables $NT_BASE_ORIENT or
$NT_BASE_ORIENT_NORMAL are available for this. The orientations come into effect if no
tool is selected. If the vectors are not explicitly defined, the default setting is (0, 0, 1).
● $NT_BASE_ORIENT[n, 0 ...2]; defines the basic tool orientation via a vector, as shown in
the following example:
– $NT_BASE_ORIENT[1, 0] = 1.0; component in X-direction
– $NT_BASE_ORIENT[1, 1] = 1.5; component in Y-direction
– $NT_BASE_ORIENT[1, 2] = 100; component in Z-direction
● $NT_BASE_ORIENT_NORMAL[n, 0 ...2] defines a vector which stands vertically on the
basic tool orientation for orientation transformations with three degrees of freedom. If the
vectors are not explicitly defined, the default setting is (0, 1, 0).
● $NT_IGNORE_TOOL_ORIENT[n]; if the system variable is set, the values from the system
variables $NT_BASE_ORIENT and $NT_BASE_ORIENT_NORMAL are also used when a
tool is active.
Treatment of singular points (poles)

If poles (Page 157) are encountered over the course of processing, the behavior at the pole can
be set via two system variables:
● $NT_POLE_LIMIT; defines the end angle tolerance, i.e. the angle by which the polar axis
can deviate from the programmed value for the 5-axis transformation.
● $NT_POLE_TOL; defines the end angle tolerance for interpolation through the pole.
Real-time velocity monitoring

The machine data $MC_TRAFO_ORI_ONLINE_CHECK_LIM and
$MC_TRAFO_ORI_ONLINE_CHECK_LIMR define the linear or rotary position difference
between the pre-run and main run as of which the real-time velocity monitoring and limiting is
activated. The position differences are formed from the positions of the linear and rotary axes.
Use of CYCLE832 (High Speed Settings)

When Cycle832 with transformations is used, the rotary axes are determined in the following
way:
● The rotary axes that are contained in the first transformation with a kinematic chain of the
type TRAOR_DYN are entered.
● If there is no transformation with a kinematic chain, the rotary axes that are contained in the
last transformation defined via machine data are entered.
The reference radius for both rotary axes is then set via FGREF.
Transformations
Machine measurement for orientation transformation

With the CORRTRAFO (Page 318) function, measured lever arm lengths and axis directions
can be written in correction elements:
● $NT_CORR_ELEM_T[n, 0 ...3]; names of the correction elements (type "OFFSET") in the
kinematic chain (tool chain) which can be written to by CORRTRAFO.
● $NT_CORR_ELEM_P[n, 0 ...3]; names of the correction elements (type "OFFSET") in the
kinematic chain (workpiece chain) which can be written to by CORRTRAFO.
Example of kinematics
The example schematically shows two-axis swivel head kinematics with the axis sequence CA,
as a spatial image and as a kinematic chain.
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SRLQW
Figure 4-3 TRAORI example
Transformations
4.1.4 Face end transformation TRANSMIT

In this chapter, a description is provided as to how a end face transformation is mapped using
a kinematic chain and parameterized in the control system using system variables. The
TRANSMIT transformation permits end face machining (drill holes, contours) on turning
machines.
The system variables are retentively saved in the NC and can be archived and/or read as "NC
data" via SINUMERIK Operate using the commissioning archive.
The machine kinematics are defined using two kinematic chains, see Definition of kinematic
transformations (Page 256).
The following graphic shows an example of a end face transformation:
&0
<
;
;0
$60
==
0
CM Machine axis; rotary axis
XM Machine axis; linear axis, perpendicular to rotary axis
ZN Machine axis; linear axis, parallel to rotary axis
ASM Machine axis; work spindle
Figure 4-4 TRANSMIT
● There must be exactly one rotary axis (the polar axis), with its name in
$NT_ROT_AX_NAME[n,1].
● One to three entries for linear axes are possible in the system parameters
$NT_GEO_AX_NAME[n,i].
Transformations
Coordinate systems for end face transformations

The workpiece coordinate system and the basic coordinate system are independent of the
world coordinate system in which the kinematic chains are defined.
● The Z axis is parallel to the polar axis (axis CM - see above) and parallel to the longitudinal
axis, if it is defined.
● The geometry axes X, Y and Z are vertical to one another and form a perpendicular
coordinate system in the order 1st, 2nd and 3rd geometry axis.
● If the longitudinal axis ($NT_GEO_AX_NAME[n, 2]) exists, it must always be parallel to the
rotary axis ($NT_ROT_AX_NAME[n, 1]).
● If there are two linear axes, they do not have to be orthogonal to one another.
● If there are three linear axes, two axes must be orthogonal to one another. A third axis can
be at an oblique angle to one of the other two axes. There can only be one axis pair in which
the angle of the two axes is not equal to 90°. An oblique axis cannot be positioned
perpendicularly on another axis.
Kinematic chains for end face transformations

The transmit transformation is activated via the system variable $NT_TRAFO_TYPE =
"TRANSMIT_K".
Definition of the linear axes

● The X-axis is defined via the system variable $NT_GEO_AX_NAME[n,0]. This is the linear
axis of the actual TRANSMIT transformation. In the standard scenario, this axis is vertical
on the polar axis (see above).
● An entry in $NT_GEO_AX_NAME[n, 2] is optional. This axis (typically the Z-axis) is the
longitudinal axis. It must be defined parallel to the rotary axis ($NT_ROT_AX_NAME[n, 1]).
● An entry in $NT_GEO_AX_NAME[n, 1] is optional. This axis (typically the Y-axis) stands
vertically on the radial axis ($NT_GEO_AX_NAME[n, 0]) and the polar axis
($NT_ROT_AX_NAME[n, 1]) in the standard scenario.
This axis (the center offset axis) is generally used to compensate a tool offset in the Y
direction so that machining is possible up to the turning center.
Definition of a rotary axis

● The rotary axis is defined via the system variable $NT_ROT_AX_NAME[n,1]. This axis must
always be available. The direction of rotation of the rotary axis is defined via $NT_CNTRL
Bit 11.
● An offset can be defined via system variable $NT_ROT_AX_OFFSET[n, 0] for the active
TRANSMIT transformation.
Defining the order of the axes

Various settings for the transformation are defined using system variable $NT_CNTRL[n]
(Page 298). With the bits 16-18, it is binary coded how the channel axes that are entered in
$NT_ROT_AX_NAME[n, 1], in $NT_GEO_AX_NAME[n. 0] and in $NT_GEO_AX_NAME[n. 2]
Transformations
are assigned to the geometry axes. The three binary numbers must correspond to the following
decimal numbers:
Decimal Order of the geometry axes

0 X Y Z
1 Z X Y
2 Y Z X
3 Z Y X
4 X Z Y
5 Y X Z
Behavior when passing through the pole

The behavior when passing through the pole is defined via the system variable
$NT_POLE_SIDE_FIX
VALUE Meaning
0 Pole crossing
The tool center point path (linear axis) must cross the pole on a continuous path.
The tool center point path must be restricted to a positive traversing range of the linear axis
(in front of turning center).
The tool center point path must be restricted to a negative traversing range of the linear axis.
(behind turning center).
Offset for the base tool

The system variable $NT_BASE_TOOL_COMP (Page 302) can be used to set whether an
offset is entered for the base tool in the transformation frame ($P_TRAFRAME) upon activation
of the transformation for each separate geometry axis. With the offset, the components of the
base tool are compensated in such as way that no change occurs in the component of the
WCS. For this function, $P_TRAFRAME must be configured via the machine data
$MC_MM_SYSTEM_FRAME_MASK bit 6.
The compensation can, for example, be used for a tool carrier, where the dimensions of the
head part of the tool carrier are not part of the tool length.
The separating point between the base tool and the tool can be defined via the system variable
$NT_T_REF_ELEM. If the system variable is blank, then the separating point is defined at the
end point of the tool chain.
Work offset of the rotary axis

In system variable $NT_ROT_OFFSET_FROM_FRAME (Page 294), you set whether the
offset for orientation axes is to be automatically applied. If a value is defined in the system
variable, then the programmed offset is automatically imported upon switch-on from the work
offset that is active for orientation axes:
Transformations
Importing the rotary axis offset from the work offset upon selection of the transformation:
● 0 = Axial offset of the rotary axis is not taken into account.
● 1 = axial offset of the rotary axis is taken into account.
● 2 = Axial offset of the rotary axis is taken into account up to the SZS. SZS is the settable zero
system. The SZS frames contain transformed rotations around the rotary axis.
Definition of the last element in the kinematic chain

$NT_CNTRL Bit 19 is used to define that the last element of the kinematic chain is a rotary axis
or a constant rotation. The direction vector of the rotary axis defines the Z direction of the tool
coordinate system. If the system variable $NK_A_OFF of this chain element contains a value
not equal to zero, the tool coordinate system is also rotated about the coordinate axis with this
angle.
If $NT_CNTRL Bit 20 is also defined, the sign of the Z direction of the axis for the determination
of the WCS is inverted.
Example program for TRANSMIT

You will find a simple part program using TRANSMIT under Part program for TRANSMIT
(Page 332).
4.1.5 Cylinder surface transformation TRACYL

In this chapter, a description is provided as to how cylinder surface transformations (TRACYL)
are mapped using a kinematic chain and parameterized in the control system using system
variables.
The machine kinematics are defined using two kinematic chains, see Definition of kinematic
The following graphic shows an example of a cylinder surface transformation:
Transformations
&
=
Figure 4-5 Cylinder surface transformation (TRACYL)
Activating a transformation with TRAFOON

In addition to the name of the transformation, the reference diameter can also be specified for
TRACYL and a setting as to whether the "Slot side offset" function is active is also possible:
TRAFOON (<transformation name>, <diameter>, <k>)
With k = 1, the slot side offset is carried out, see Activating a transformation (TRAFOON)
(Page 317).
● There must be exactly one rotary axis (the polar axis), with its name in
$NT_ROT_AX_NAME[n,1].
● There can be 1 to 3 entries for linear axes in the system parameters
$NT_GEO_AX_NAME[n,i].
Coordinate systems for cylinder surface transformations

The workpiece coordinate system and the basic coordinate system are independent of the
world coordinate system in which the kinematic chains are defined.
● The Z axis is parallel to the polar axis (axis B - see above) and parallel to the longitudinal
axis, if it is defined.
● The geometry axes X, Y and Z are vertical to one another and form a perpendicular
coordinate system in the order 1st, 2nd and 3rd geometry axis.
● If the longitudinal axis ($NT_GEO_AX_NAME[n, 2]) exists, it must always be parallel to the
rotary axis ($NT_ROT_AX_NAME[n, 1]).
Transformations
● If there are two linear axes, they do not have to be orthogonal to one another.
● If there are three linear axes, two axes must be orthogonal to one another. A third axis can
be at an oblique angle to one of the other two axes. There can only be one axis pair in which
the angle of the two axes is not equal to 90°. An oblique axis cannot be positioned
perpendicularly on another axis.
Kinematic chains for cylinder surface transformations

The cylinder surface transformation is activated via the system variable $NT_TRAFO_TYPE =
"TRACYL_K".
Definition of the linear axes

● The X-axis is defined via the system variable $NT_GEO_AX_NAME[n,0]. This is the linear
axis of the actual TRACYL transformation. In the standard scenario, this axis is vertical on
the rotary axis (see above). The slot depth is set at this axis.
● An entry in $NT_GEO_AX_NAME[n, 1] is optional. This axis (typically the Y-axis) stands
vertically on the radial axis ($NT_GEO_AX_NAME[n, 0]) and the polar axis
($NT_ROT_AX_NAME[n, 1]) in the standard scenario.
This axis is the slot side offset axis. With this axis, the offset at the extent of the machining
cylinder is compensated when the tool radius compensation is active, so that the slot sides
remain perpendicular to the slot base.
● An entry in $NT_GEO_AX_NAME[n, 2] is optional. This axis (typically the Z-axis) is the
longitudinal axis. It must be defined parallel to the rotary axis ($NT_ROT_AX_NAME[n, 1]).
Definition of a rotary axis

● The rotary axis is defined via the system variable $NT_ROT_AX_NAME[n,1]. This axis must
always be available. The direction of rotation of the rotary axis is defined via $NT_CNTRL
Bit 11.
● An offset can be defined via system variable $NT_ROT_AX_OFFSET[n, 0] for the active
TRACYL transformation.
Defining the order of the axes

Various settings for the transformation are defined using system variable $NT_CNTRL[n]
(Page 297). With the bits 16-18 it is binary coded how the channel axes that are entered in
$NT_ROT_AX_NAME[n, 1], $NT_GEO_AX_NAME[n. 0] and $NT_GEO_AX_NAME[n. 2] are
assigned to the geometry axes. The three binary numbers must correspond to the following
decimal numbers:

0 X Y Z
1 Z X Y
2 Y Z X
3 Z Y X
4 X Z Y
5 Y X Z
Transformations
Slot side offset

In connection with bit 9 = 1, you can set whether TRACYL is operated with or without slot side
offset upon activation of the transformation via TRAFOON. "Slot side active" corresponds to
transformation type 514.
If you are working with slot side offset, $NT_GEO_AX_NAME[n,1] must contain a reference to
a linear axis (slot side offset axis).
The following settings via $NT_CNTRL are possible with bit 9 and bit 10:
Bit 10 Bit 9 Description

0 0 TRACYL without slot side offset
0 1 TRACYL with slot side offset
1 0 TRACYL with the capability of switching between the functions with and without slot side offset
via a transformation parameter upon activation of the transformation (TRAFOON). The slot
side offset is inactive by default.
1 1 TRACYL with the capability of switching between the functions with and without slot side offset
via a transformation parameter upon activation of the transformation (TRAFOON). The slot
side offset is active by default.
Work offset of the rotary axis

Setting is done via the system variable $NT_ROT_OFFSET_FROM_FRAME (Page 294). If a
value is defined in the system variable, then the programmed offset is automatically imported
upon switch-on from the work offset that is active for orientation axes:
Importing the rotary axis offset from the work offset upon selection of the transformation:
● 2 = Axial offset of the rotary axis is taken into account up to the SZS. SZS is the settable zero
Definition of the last element in the kinematic chain

$NT_CNTRL Bit 19 is used to define that the last element of the kinematic chain is a rotary axis
or a constant rotation. The direction vector of the rotary axis defines the Z direction of the tool
coordinate system. If the system variable $NK_A_OFF of this chain element contains a value
not equal to zero, the tool coordinate system is also rotated about the coordinate axis with this
angle.
If $NT_CNTRL Bit 20 is also defined, the sign of the Z direction of the axis for the determination
of the WCS is inverted.
Example program for TRACYL

You will find a simple part program using TRACYL under Part program for TRACYL (Page 335).
Transformations
4.1.6 Oblique angle transformation (inclined axis) TRAANG_K

In this chapter, a description is provided as to how an oblique angle transformation
(TRAANG_K) is mapped using a kinematic chain and parameterized in the control system
using system variables.
80
==0
0 &0
$60
① Grinding disk
② Workpiece
X Geometry axis
Z Geometry axis
ZM Machine axis
UM Machine axis
Figure 4-6 Inclined axis
The oblique angle transformation is a special case of orientation transformation.

The oblique angle transformation is activated using system variable $NT_TRAFO_TYPE =
"TRAANG_K".
Program example for TRAANG

You will find a simple part program using TRAANG under Part program for TRAANG
(Page 338).
Transformations
4.1.7 Static orientation transformation TRAORI_STAT

Static orientation transformations differ from dynamic orientation transmissions in that it is not
possible to carry out interpolator compensating movements in such a way that the tool tip
adheres to the path programmed in the NC program in the workpiece coordinate system.
However, all of the functions are available for approaching the correct end points, taking the
required compensation movements into consideration.
A static orientation formation makes sense for machines in which the orientation is fixed once
it is set and cannot be changed during the process, for example when rotating on a milling
machine.
The static orientation transformation is defined using the same system variables as a dynamic
orientation transformation, see Dynamic orientation transformation TRAORI_DYN and
Definition of kinematic transformations (Page 256).
Axes for a static orientation transformation

The orientation axes of static orientation transformations can also be spindles or Hirth-coupled
axes. Spindles behave like constant kinematic rotations, i.e. if a position is to be assigned to
them in the kinematic transformation, this must be entered in the associated system
parameters $NK_A_OFF[n].
The type "Static orientation transformation" is activated via the system variable
§NT_TRAFO_TYPE = TRAORI_STAT.
System variables for the definition of the static orientation transformation

The machine kinematics are defined via the kinematic chain, see Definition of kinematic
The static orientation transformation is defined via the following system variables:
● System variables for general transformation types (Page 278)
● Additive system variable for orientation transformation (Page 303)
Reference
Information on orientable tool carriers via kinematic chains can be found in the "Basic
Functions" Function Manual in section "Tool offset" under "Orientable tool carriers".
See also
Dynamic orientation transformation TRAORI_DYN (Page 258)
4.1.8 Concatenating transformations (TRACON_K)

In transformations with kinematic chains, non-orthogonal axes can be defined via the kinematic
chain. This means that transformations no longer have to be concatenated with TRACON to
map non-orthogonal axes.
Transformations
Transformation type "TRACON_K" (Page 281) is used in combination with kinematic chains in
order to chain an "Open Architecture (OA)" transformation with one of the standard
transformations. More detailed information is provided in the "Open Architecture (OA)"
documentation.
Further information
An exhaustive description of the chaining of transformations without kinematic chains can be
found in Chained transformations.
See also
$NT_TRACON_CHAIN (Page 316)
Chained transformations (Page 81)
4.1.9 Effective transformations upon reset
Active transformation upon reset

The kinematic transformation that is in effect during a reset is defined via the machine data
$MC_TRAFO_RESET_NAME.
If no name has been defined for $MC_TRAFO_RESET_NAME,
$MC_TRAFO_RESET_VALUE is active or no transformation is active upon reset. The contents
of this machine data specifies the number of the conventional transformation to be activated.
Conventional transformations are not defined via kinematic chains, but via machine data.
Furthermore, the machine data $MC_RESET_MODE_MASK Bit 7 acts as it does for
conventional transformations. If bit 7 is set, the active transformation is retained after the reset
or the end of the part program.
4.1.10 Persistent transformations
Persistent transformation
A persistent transformation is a transformation which is retained even when another (different)
transformation is switched off with TRAFOOF. This transformation is identical to the
transformation that is in effect during the reset (Page 271).
If a different transformation is selected, the persistent transformation is replaced by the newly
selected transformation. The newly selected transformation is NOT concatenated with the
persistent transformation.
Transformations
4.1.11 Simulation/simultaneous recording with kinematic chains
Machine data $MNS_FUNCTION_MASK_SIM

To correctly carry out the simulation and simultaneous recording, the machine data MD 51226
$MNS_FUNCTION_MASK_SIM Bit 22 must be set.
The transformations TRAORI_DYN, TRANSMIT_K, TRACYL_K and TRAANG_K are affected
by this.
4.1.12 Migration of kinematic transformations
Conventional transformations
Conventional transformations are understood to mean transformations that are defined via
machine data. These transformation definitions remain valid and can be used without
restrictions.
The variant available as of V4.8. SP2 also allows kinematic transformations to be defined via
kinematic chains and system variables.
Managing data only once

For the parallel use of conventional transformations and transformations via kinematic chains,
the problem occurs in which identical machine kinematics may be parameterized with different
NC data, namely, once with machine data and once with data from the system variables of the
kinematic chains and the transformations. As a result, inconsistencies in the data management
can occur.
Activating a transformation
The following functions are available for the activation of kinematic transformations:
● Syntax for transformations via kinematic chains: TRAFOON (Page 317) (<name>)
● Syntax for conventional transformations: TRAORI(...), TRANSMIT(...), TRACYL(...),
TRAANG(...).
Transformations which have been defined via kinematic chains can be called via the syntax for
conventional transformations.
To this end, the transformation that is to be called must be defined via the system variable
$NT_TRAFO_INDEX (Page 280).
Transformations
The following also applies:

● If a transformation has been defined conventionally and with a kinematic chain, the
transformation is called via a kinematic chain.
● No check is made to determine whether the called transformation is of a type that is
compatible with the transformation type of the original call.
● Call parameters of a conventional transformation call are forwarded to the transformation
defined with kinematic chains.
Restrictions for TRAANG_K

For a conventional TRAANG transformation (transformation of "oblique axis"), the angle of the
oblique axis is defined opposing the corresponding coordinate axis in a perpendicular
coordinate system by means of machine data (24700 $MC_TRAANG_ANGLE_x).
However, this angle can be changed during a transformation call, e.g. TRAANG(<α>), in a
parameter.
Therefore, specifying the angle parameter is only permitted when this angle is identical to the
angle that results from the definition of the kinematic chain.
Orientation transformations
For orientation transformations, which are parameterized with kinematic chains, the content of
the system variable $P_TRAFO is defined for compatibility reasons.
With an active orientation transformation, $P_TRAFO provides the values that would be
contained in the machine data $MC_TRAFO_TYPE_x for the conventional parameterization of
a corresponding transformation, i.e. the value 24 for "tool" kinematics, the value 40 for
"workpiece" kinematics, and either the value 56 or 57 for mixed kinematics.
The value 57 can only occur with 6-axis transformations if the tool chain contains one
orientation axis and the workpiece chain contains two orientation axes.
4.1.13 Frames for kinematic transformations
Frames for the description of kinematic chains

With the system variables $P_TRAFRAME_T or $P_TRAFRAME_P, frames can be read out
which describe the offset and the rotation of a coordinate system secured at the tool reference
point or at the workpiece reference point, compared to the zero point of the world coordinate
system.
The contents of these frame variables can also be read via the BTSS interface.
The zero point of the world coordinate system is the point from which the kinematic chains
(Page 255) are defined for describing the machine kinematics.
Transformations
4.2 Commissioning
4.1.14 Tool lengths
Tool lengths
If the portion of the kinematic chain that leads to the tool is part of the tool, then the tool
reference point and the tool reference position that was set via $NT_T_REF_ELEM are no
longer identical.
The following applies to the NC functions, GETTCORR, SETTCORR and LENTOAX, for which
the tool reference point is important:
The portion of the kinematic chain that lies between the tool reference position and the tool
reference point is handled like an orientable tool carrier, which has been defined via machine
data.
4.2 Commissioning
4.2.1 General
4.2.1.1 Overview
The startup of the function "Transformations via kinematic chains" is done by means of:
● Machine data
– Specification of the quantity structure
– Specification of the first element in the kinematic chain
● System variables
– Definition of the transformation type
– Specification of the kinematic properties of an element
– Connection of the element to the kinematic chain
4.2.1.2 Structure of the system variables

The system variables are structured according to the following scheme:
● $NT_<Name>[<Index_1>]
● $NT_<Name>[<Index_1>, <Index_2>]
Transformations
4.2 Commissioning
General
The system variables to describe the elements of kinematic chains have the following
properties:
● The prefix for all of the system variables of the kinematic chain is $NT_, (N for NC, K for
transformation).
● The system variables can be read and written via NC programs.
● The system variables can be stored in archives and loaded to the NC again.
Data type
STRING
All system variables of the STRING data type have the following properties:
● Maximum string length: 31 characters
● No distinction is made between upper and lower case
Example: "Axis1" is identical to "AXIS1"
● Spaces and special characters are permitted
Example: "Axis1" is not identical to "Axis 1"
● Names that start with two underscores "__" are reserved for system purposes and must not
be used for user-defined names.
Note
Leading space
Since spaces are valid and distinct characters, names that start with a space followed by two
underscores "__" can, in principle, be used for user-defined names. However, because they
can be easily mistaken for system names, this procedure is not recommended.
Index_1
The individual elements are addressed via index_1. Index 0 is reversed, index 1 → 1. Element,
index 2 → 2. Element, ... (n+1) → (n+1) element, with n = ($MN_MM_NUM_KIN_TRAFOS - 1)
All system variables of an element have the same index.
Index_2
For system variables that contain a vector, the coordinates of the vector are addressed via
index_2.
● 0 → X axis
● 1 → Y axis
● 2 → Z axis
Transformations
4.2 Commissioning
4.2.2 Machine data
4.2.2.1 Maximum number of transformations with kinematic chains

The maximum number of transformations that can be defined with kinematic chains is set using
the machine data
MD18866 $MN_MM_NUM_KIN_TRAFOS = <number>
4.2.2.2 Name of the reset transformation

The name of a transformation is specified with the machine data that is selected during run-up/
reset or at the end of the part program.
MD20142 $MC_TRAFO_RESET_NAME = <name>
4.2.2.3 Activation limit of the real-time dynamic monitoring (linear axes)

The activation limit of the real-time dynamic monitoring for linear axes is specified with the
machine data. Real-time dynamic limiting is activated when the deviation at a linear axis
participating in the transformation or the effective tool length for an orientation transformation
deviates by more than the defined limit.
MD21198 $MC_ORI_TRAFO_ONLINE_- CHECK_LIM = <value>
4.2.2.4 Activation limit of real-time dynamic monitoring (rotary axes)

The activation limit of real-time dynamic monitoring for rotary axes is specified with the machine
data. Real-time dynamic limiting is activated when the deviation at a linear axis participating in
the transformation or the effective tool length for an orientation transformation deviates by more
than the defined limit.
MD21198 $MC_ORI_TRAFO_ONLINE_- CHECK_LIMR = <value>
4.2.2.5 Correction value for offset vectors for CORRTRAFO

The maximum permitted correction value for offset vectors for CORRTRAFO is parameterized
with the setting data.
SD41610 $SN_CORR_TRAFO_LIN_MAX = <value>
4.2.2.6 Angular deviation for rotation vectors for CORRTRAFO

The maximum permitted angular deviations for rotation vectors for CORRTRAFO is
parameterized with the setting data.
SD41611 $SN_CORR_TRAFO_DIR_MAX = <name>
Transformations
4.2 Commissioning
4.2.3 Use of system variables for kinematic transformations
Usage table
The following table shows which $NT data is relevant for the individual types of transformations.
Note
Changed data
Changed data (e.g. $NT_xxx or $NK_yyy) enter into effect in the NC program after NEWCONF or
after a RESET (program end).
Variable BTSS (column TRAORI_ST TRAORI_DY TRANS‐ TRAC‐ TRAANG

ind.) AT N MIT_K YL_K _K
$NT_NAME[n] 1200 x x x x x
$NT_TRAFO_INDEX[n] 1295 x x x x x
$NT_TRAFO_TYPE[n] 1201-1203 x x x x x
$NT_T_CHAIN_LAST_ELEM[n] 1204 x x x x x
$NT_P_CHAIN_LAST_ELEM[n] 1207 x x x x x
$NT_T_CHAIN_FIRST_ELEM[n] 1203 x x x x x
$NT_P_CHAIN_FIRST_ELEM[n] 1206 x x x x x
$NT_T_REF_ELEM[n] 1208 x x x x x
$NT_GEO_AX_NAME[n,0..2] 1210-1222 0,1,2 0,1,2 0,1,2 0,1,2 0,1,2
$NT_ROT_AX_NAME[n,0..2] 1220-1222 0,1,2 0,1,2 1 1 -
$NT_CLOSE_CHAIN_T[n] 1226 x x x x x
$NT_BASE_ORIENT[n,0..2] 1280-1285 x x - - -
$NT_BASE_ORIENT_NOR‐ 1283-1285 x x - - -
MAL[n,0..2]
$NT_ROT_OFF‐ 1288 x x x x -
SET_FROM_FRAME[n]
$NT_POLE_LIMIT[n] 1286 - x - - -
$NT_POLE_TOL[n] 1287 x x - - -
$NT_IGNORE_TOOL_ORIENT[n] 1289 x x - - -
$NT_ROT_AX_POS[n] 1230-1232 x x - - -
$NT_CORR_ELEM_T[n, 0..3] 1235-1238 x x - - -
$NT_CORR_ELEM_P[n, 0..3] 1320-1323 x x - - -
$NT_TRAFO_IN‐ 1290 - - - - x
CLUDES_TOOL[n]
$NT_POLE_SIDE_FIX[n] 1291 - - x - -
$NT_CNTRL[n] 1294 x x x x x
$NT_AUX_POS[n,0..2] 1300-1302 ~ ~ ~ ~ ~
$NT_IDENT[n, 0..2] 1310-1312 ~ ~ ~ ~ ~
$NT_ROT_AX_CNT[n, 0..1] 1316-1317 x x x x x
Transformations
4.2 Commissioning
Variable BTSS (column TRAORI_ST TRAORI_DY TRANS‐ TRAC‐ TRAANG

ind.) AT N MIT_K YL_K _K
$NT_BASE_TOOL_COMP 1396 - - x x -
$NT_ROT_AX_OFFSET[n, 0....2] 1324-1326 x x x x -
"x" affects the transformation.

"-" has no effect on the transformation
"~" has no effect on the transformation in the NCK, but can be properly used for purposes outside of NC.
"Numbers" permitted axis indices (0 to 2)
"Column index"; column index of the variables in the operator panel interface in block N_PA (0x35).
4.2.4 System variables for general transformation types
4.2.4.1 Overview

$NT_NAME Name of the transformation dataset
$NT_TRAFO_INDEX Identifier for alternative transformation activation
$NT_TRAFO_TYPE Transformation type
$NT_T_CHAIN_LAST_ELEM Name of the last element of the tool chain
$NT_P_CHAIN_LAST_ELEM Name of the last element of the workpiece chain
$NT_T_CHAIN_FIRST_ELEM Name of the first element in the tool chain
$NT_P_CHAIN_FIRST_ELEM Name of the first element of the workpiece chain
$NT_T_REF_ELEM Name of the reference element for tool length
$NT_GEO_AX_NAME Names of the elements of the geometry axes
$NT_ROT_AX_NAME Names of the elements of the orientation axes
$NT_CLOSE_CHAIN_P Reference element for closing the kinematic chain to the tool
$NT_CLOSE_CHAIN_T Reference element for closing the kinematic chain to the work‐
piece.
$NT_ROT_OFF‐ Importing the rotary axis offset from the work offset upon selection
SET_FROM_FRAME of the transformation:
$NT_TRAFO_INCLUDES_TOOL Defines whether the tool length is handled in the transformation or
- if the transformation permits it - outside of the transformation.
$NT_AUX_POS Auxiliary position for cycles, e.g. retraction position
Note Has no meaning for the transformation
$NT_IDENT Identification number for user-specific program management
Note Has no meaning for the transformation
$NT_CORR_ELEM_T Names of a maximum of four correction elements in the kinematic
chain for the tool
Transformations
4.2 Commissioning

$NT_CORR_ELEM_P Names of a maximum of four correction elements in the kinematic
chain for the workpiece
$NT_CNTRL Control word
The system variables are described in detail in the following sections.
Note
Element names
The system does not monitor as to whether the element names of the kinematic chain, which
are referenced to parameterize transformation, were allocated a multiple number of times. If
names such as these are available a multiple number of times, then the system data of the
transformation always refer to the corresponding element with the lowest index.
Establish a defined initial state
It is recommended that a defined initial state be generated before parameterizing the kinematic
chain. To do this, the system variables of the kinematic chain should be set to their default value
using function DELOBJ().
Change system variable values
A change to system variable values of the transformation data $NT_... only become effective
when the NEWCONF machine data becomes effective. This can be done using the softkey on
the user interface in the operating area "Commissioning" > "Machine data " > "Set MD active",
in a program using the NEWCONF command or using a program end reset, channel reset or a
warm or cold restart.
4.2.4.2 $NT_NAME
Function
The NC-wide unique name of the transformation dataset or transformation must be entered in
the system variable. The transformation is referenced via this name, e.g. upon activation with
TRAFOON. If the zero string ("") is entered as the name, the transformation is considered to be
undefined.
Syntax
$NT_NAME[<n>] = "<Name>"
Meaning
$NT_NAME: Name of the transformation

Data type: STRING
Default value: "" (empty string)
Transformations
4.2 Commissioning
<n>: System variable or transformation index

Data type: INT
Range of values: 1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)
<name>: Transformation name, max. string length: 31 characters
Data type: STRING
Example
The name "5-axis transformation C-B" is assigned to the first transformation with kinematic
chains:

N100 $NT_NAME[1] = "5-axis transformation ; 1st transformation,
C-B" ; name = "5-axis transformation C-B"
4.2.4.3 $NT_TRAFO_INDEX
Function
To ensure that a transformation can also be called via the corresponding conventional
command, e.g. the orientation transformation via TRAORI, an NC-wide, unique identifier must
be entered in the system variable. The identifier identifies a transformation with kinematic
chains by means of the transformation type, transformation number and channel number to
which a transformation that is called conventionally with this identifier is diverted
(TRAORI(<identifier>, ...)). The identifier is decimally coded.
Syntax
$NT_TRAFO_INDEX[<n>] = <Id>
Meaning
$NT_TRAFO_INDEX: Identifier, decimally coded (CCBBA)

Data type: INT
Default value: 0
Decimal place Meaning
Ones digit (xxxxA) Transformation type
The type of the transformation that is parameterized in this dataset:
Value Meaning
1 TRAORI
2 TRANSMIT
3 TRACYL
4 TRAANG
5 TRACON
Value range: 1, 2, 3, 4, 5
Transformations
4.2 Commissioning
$NT_TRAFO_INDEX: Tens and hundreds Transformation number

(continued) digits (xxBBx) The number <n>, which references the nth channel-specific machine dataset
of this type (MD24100ff or MD25100ff) for a conventional call of a transfor‐
mation type, e.g. orientation transformation TRAORI(<n>). The number can
be specified for a conventional call of the first transformation of a type
(e.g. TRAORI, TRAORI(), TRAORI(0), TRAORI(1)). All of the calls refer‐
ence the 1st dataset of the transformation type in the channel. The
number must be specified after the call of the second transformation of a type
(e.g. TRAORI(2)).
Value range: 1, 2, 3, ... max. dataset number of the transformation
type
$NT_TRAFO_INDEX: Thousands and ten- Channel number
(continued) thousands digit The channel number defines which channel the current dataset is valid for. If
(CCxxx) the conventional transformation call of an orientation transformation TRAORI
takes place, for example, in the second channel, a transformation with kine‐
matic chains must be parameterized with a channel number equal to 2.
Value range: 0, 1, 2, 3, ... max. number of channels, 99
● 0 and 1: valid for channel 1
● 2, 3, ...: valid for channel 2, 3, ...
● 99: valid for all channels
Data type: INT
Value range: 1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)
<Id>: Identifier
Data type: INT
Example
The call of the first orientation transformation TRAORI(2) in the third channel should be
diverted to the second transformation with kinematic chains.

N100 $NT_TRAFO_INDEX[1] = 03021 ; 1st transformation with kin. chains,
; 1st orientation transformation for chan-
nel 3
4.2.4.4 $NT_TRAFO_TYPE
Function
The designation of the transformation type must be entered in the system variable.
Syntax
$NT_TRAFO_TYPE[<n>] = "<TrafoType>"
Transformations
4.2 Commissioning
Meaning
$NT_TRAFO_TYPE: Transformation type

Data type: STRING
Default value: ""
Value range: Value Meaning
"TRAORI_DYN" Dynamic orientation transformation
with orientation axes
"TRAORI_STAT" Static orientation transformation with‐
out orientation axes
"TRAANG" Inclined angle transformation without
orientation axes
"TRAANG_K" Oblique angle transformation
(The extension "_K" distinguishes it
from a conventionally defined
TRAANG transformation)
"TRANSMIT_K" Face end transformation TRANSMIT
"TRACON_K" Concatenating transformations
Data type: INT
Range of val‐ 1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)
ues:
<TrafoType>: Transformation type
Data type: STRING
Example
The first transformation with kinematic chains describes a dynamic orientation transformation
with orientation axes:

N100 $NT_TRAFO_TYPE[1] = ; 1st transformation,
"TRAORI_DYN" ; transformation type = "TRAORI_DYN"
4.2.4.5 $NT_T_CHAIN_FIRST_ELEM
Function
The kinematics of a transformation is described by a maximum of two kinematic subchains,
which begin in the respective root element, i.e. the first element of the kinematic chain that is
in effect. One subchain leads from the root element to the workpiece reference point
(see Definition of kinematic transformations (Page 256)). The other subchain leads to the tool
reference point. If the subchain does not start, as is usual, in the root element, the first element
of the active kinematic subchain can be defined for the tool chain and for the workpiece chain
using the system variables
Transformations
4.2 Commissioning
The name ($NT_NAME (Page 279)) of the element of the kinematic subchain that is currently
active, which defines the starting point of the subchain for the tool reference point, must be
entered in the system variable $NT_T_CHAIN_FIRST_ELEM.
Note
Pure tool kinematics
The first element only has to be defined in $NT_P_CHAIN_FIRST_ELEM in special
circumstances; otherwise the system variable can remain empty. In this case, the ROOT
element is used as the first element.
Syntax
$NT_T_CHAIN_FIRST_ELEM[<n>] = "<ElementName>"
Meaning
$NT_T_CHAIN_FIRST_ELE Name of the element that defines the starting point of the currently ac‐
M: tive kinematic chain for the tool reference point.
Data type: STRING
Default value: ""
Range of val‐ Element names of the currently active kinematic chain
ues:
Data type: INT
ues:
<ElementName>: Name of an element of the currently active kinematic chain
Data type: STRING
Example
For the first transformation, the name of the element of the kinematic subchain that defines the
starting point of the subchain for the workpiece reference point is "Baseoffset_2":

N100 $NT_T_CHAIN_FIRST_ELEM[1] = "Base- ; 1st transformation,
offset_2" ; first element for the tool reference
point
Transformations
4.2 Commissioning
4.2.4.6 $NT_P_CHAIN_FIRST_ELEM
Function
in effect. One subchain leads from the root element to the tool reference point (see Definition
of kinematic transformations (Page 256)). The other subchain, which is described here, leads
to the workpiece reference point. If the subchain does not start, as is usual, in the root element,
the first element of the active kinematic subchain can be defined for the tool and workpiece
chain using the system variables.
The name ($NT_NAME (Page 279)) of the element of the kinematic chain that is currently in
effect, which defines the starting point of the subchain for the workpiece reference point, must
be entered in the system variable $NT_P_CHAIN_FIRST_ELEM.
Note
Pure workpiece kinematics
The first element only has to be defined in $NT_T_CHAIN_FIRST_ELEM in special
circumstances; otherwise the system variable can remain empty. In this case, the ROOT
element is used as the first element.
Syntax
$NT_P_CHAIN_FIRST_ELEM[<n>] = "<ElementName>"
Meaning
$NT_P_CHAIN_FIRST_ELE Name of the first element of the kinematic subchain that is currently
M: active defined at the endpoint of the tool reference point.
Data type: STRING
Default value: ""
ues:
Data type: INT
ues:
Data type: STRING
Transformations
4.2 Commissioning
Example
For the first transformation, the name of the element of the kinematic chain that defines the end
point of the subchain for the workpiece reference point is "TableOffset":

N100 $NT_P_CHAIN_FIRST_ELEM[1] = "Base- ; 2nd transformation,
offset" ; element for the workpiece reference
point
4.2.4.7 $NT_T_CHAIN_LAST_ELEM
Function
in effect. One subchain leads from the root element to the workpiece reference point
(see Definition of kinematic transformations (Page 256)). The other subchain, which is
described here, leads to the tool reference point.
effect, which defines the end point of the subchains for the tool reference point, must be entered
in the system variable $NT_T_CHAIN_LAST_ELEM.
Note
Pure tool kinematics
If, for pure tool kinematics, the kinematics of the transformation is completely described by the
subchain for the tool reference point, the parameterization of the system variable
$NT_T_CHAIN_LAST_ELEM is sufficient. The system variable for describing the subchain for
the workpiece reference point ($NT_P_CHAIN_LAST_ELEM) can remain blank.
Syntax
$NT_T_CHAIN_LAST_ELEM[<n>] = "<ElementName>"
Meaning
$NT_T_CHAIN_LAST_ELEM: Name of the element of the kinematic chain currently in effect, which
defines the end point for the tool reference point, starting from the root
element.
Data type: STRING
Default value: ""
ues:
Transformations
4.2 Commissioning

Data type: INT
ues:
Data type: STRING
Example
point of the subchain for the tool reference point is "Basetool":

N100 $NT_T_CHAIN_LAST_ELEM[1] = "base ; 1st transformation,
tool" ; element for the tool reference point
4.2.4.8 $NT_P_CHAIN_LAST_ELEM
Function
in effect. One subchain leads from the root element to the tool reference point (see Definition
of kinematic transformations (Page 256)). The other subchain, which is described here, leads
to the workpiece reference point.
effect, which defines the end point of the subchains for the workpiece reference point, must be
entered in the system variable $NT_P_CHAIN_LAST_ELEM.
Note
Pure workpiece kinematics
If, for pure workpiece kinematics, the kinematics of the transformation is completely described
by the subchain for the workpiece reference point, the parameterization of the system variable
$NT_P_CHAIN_LAST_ELEM is sufficient. The system variable for describing the subchain for
the tool reference point ($NT_T_CHAIN_LAST_ELEM) can remain blank.
Syntax
$NT_P_CHAIN_LAST_ELEM[<n>] = "<ElementName>"
Transformations
4.2 Commissioning
Meaning
$NT_P_CHAIN_LAST_ELEM: Name of the element of the kinematic chain currently in effect, which
defines the end point for the workpiece reference point, starting from the
root element.
Data type: STRING
Default value: ""
ues:
Data type: INT
ues:
Data type: STRING
Example
point of the subchain for the workpiece reference point is "TableOffset":

N100 $NT_P_CHAIN_LAST_ELEM[1] = "Ta- ; 2nd transformation,
bleOffset" ; element for the workpiece reference
point
4.2.4.9 $NT_T_REF_ELEM
Function
effect, which defines the tool reference position, i.e. the reference point for the tool length
calculation, must be entered in the system variable. The tool reference position is located at
the starting point of the kinematic element.
If no name of an element is entered in the system variable, the tool reference position is
identical to the tool reference point.
Syntax
$NT_T_REF_ELEM[<n>] = "<RefElementName>"
Transformations
4.2 Commissioning
Meaning
$NT_T_REF_ELEM: Name of the element of the kinematic chain that is currently in effect,
which defines the tool reference position.
Data type: STRING
Default value: "" (tool reference position = tool reference point)
Value range: Element names of the currently active kinematic chain
Data type: INT
ues:
<RefElementName>: Name of an element of the currently active kinematic chain
Data type: STRING
Example
For the first transformation, the name of the element of the kinematic chain that is currently in
effect, which defines the tool reference position, is "ToolRefPoint":

N100 $NT_T_REF_ELEM[1] = "ToolRef- ; 1st transformation,
Point" ; element for the tool reference position
4.2.4.10 $NT_GEO_AX_NAME
Function
A maximum of three names ($NT_NAME (Page 279)) of the elements of the kinematic chain
that is currently in effect, which define the geometry axes (linear axes) of the transformation
type (Page 256) to be parameterized, must be entered in the system variable. The geometry
axes carry out the linear compensating movements, which result from the kinematic
transformation.
Syntax
$NT_GEO_AX_NAME[<n>,<k>] = "<GeoAxElementName>"
Meaning
$NT_GEO_AX_NAME: Names of the elements of the kinematic chain currently in effect, which
define the geometry axes
Data type: STRING
Default value: ("", "", "")
Transformations
4.2 Commissioning

Data type: INT
<k>: Index for the elements that define the geometry axes
Data type: INT
Range of val‐ 0: X coordinate (abscissa)
ues: 1: Y coordinate (ordinate)
2: Z coordinate (applicate)
<GeoAxElementName>: Name of an element of the kinematic chain that is currently in effect,
which defines a geometry axis.
Data type: STRING
Example
For the first transformation, the names of the elements of the kinematic chain currently in effect,
which define the geometry axes, are "X_AXIS", Y_AXIS" and "Z_AXIS", must be entered.

; 1st transformation,
; elements of the geometry axes:
N100 $NT_GEO_AX_NAME[1,0] = "X_AXIS" ; X coordinate (abscissa)
N110 $NT_GEO_AX_NAME[1,1] = "Y_AXIS" ; Y coordinate (ordinate)
N120 $NT_GEO_AX_NAME[1,2] = "Z_AXIS" ; Z coordinate (applicate)
4.2.4.11 $NT_ROT_AX_NAME
Function
A maximum of three names ($NT_NAME (Page 279)) of the elements of the kinematic chain
that is currently in effect, which define the rotary axes of the transformation type (Page 256) to
be parameterized, must be entered in the system variable.
● Orientation transformation: The orientation axes A, B, C
● Face end (TRANSMIT) and cylinder surface transformation (TRACYL): The rotary axis,
which rotates the workpiece and, together with a linear axis, defines the polar coordinate
system.
Order of definitions
The maximum three rotary axes, beginning at Index 0, must be entered in the system variables
in the order in which they are defined in the kinematic chain that is currently in effect.
The kinematic chain must be run through as follows:
1. Starting point: Workpiece reference point
2. Elements of the chain
3. End point: Tool reference point
Transformations
4.2 Commissioning
The elements that define the rotary axes must be seamlessly entered in the system variable
with their names, starting at Index 0.
Syntax
$NT_ROT_AX_NAME[<n>,<k>] = "<RotAxElementName>"
Meaning
$NT_ROT_AX_NAME: Names of the elements of the kinematic chain currently in effect, which
define the rotary axes
Data type: STRING
Default value: ("", "", "")
Data type: INT
<k>: Index for the elements that define the rotary axes
Data type: INT
Range of val‐ 0: 1st rotary axis in the definition sequence
ues: 1: 2nd rotary axis in the definition sequence
2: 3rd rotary axis in the definition sequence
<RotAxElementName>: Name of an element of the kinematic chain that is currently in effect,
which defines a rotary axis.
Data type: STRING
Example
which define the rotary axes, are "ROT_AXIS_1", ROT_AXIS_2" and "ROT_AXIS_3" must be
entered.

; elements of the rotary axes:
N100 $NT_ROT_AX_NAME[1,0] = "ROT_AXIS_1" ; 1st rotary axis
N110 $NT_ROT_AX_NAME[1,1] = "ROT_AXIS_2" ; 2nd rotary axis
N120 $NT_ROT_AX_NAME[1,2] = "ROT_AXIS_3" ; 3rd rotary axis
Transformations
4.2 Commissioning
4.2.4.12 $NT_ROT_AX_OFFSET
Function
System variable $NT_ROT_AX_OFFSET allows you to enter an angle offset for the rotary axes
of the active transformation.
● For TRAORI_K, these are the rotary axes 1, 2, and 3.
● For TRANSMIT_K and TRACYL_K it is rotary axis 1.
● System variable $NT_ROT_AX_OFFSET for Transmit or Tracyl transformations without a
kinematic chain corresponds to machine data $MC_TRANSMIT_ROT_AX_OFFSET_n or
$MC_TRACYL_ROT_AX_OFFSET_n.
● System variable $NT_ROT_AX_OFFSET for orientation transformations without a kinematic
chain corresponds to machine data $MC_TRAFO5_ROT_AX_OFFSET_n.
Syntax
$NT_ROT_AX_OFFSET[<n,m>] = <offset_angle>
Meaning
$NT_ROT_AX_OFFSET Angle offset for rotary axes

Data type: REAL
Default value: -1; content is not evaluated
Data type: INT
<m>: Index of the variable $NT_ROT_AX_CNT; specifies for which rotary axis
the offset is set.
Data type: INT
Range of values ● 0 ... 2; for orientation transformation
● 1; for TRANSMIT_K and TRACYL_K
Example
Provides the number of rotary axes for the subchain:

N100 $NT_ROT_AX_CNT[1,0] = 180 ; assigns offset "180 °" to rotary axis
"0" of transformation "1".
Transformations
4.2 Commissioning
4.2.4.13 $NT_CLOSE_CHAIN_P
Function
The name ($NT_NAME (Page 279)) of the element of the currently active kinematic chain, at
the end of which the subchain for the workpiece reference point is closed if $NT_CNTRL, Bit 7
== 1, can be entered in the system variable.
If no name is entered in the system variable, the subchain is closed independently of
$NT_CNTRL, Bit 7, at the end of the last element (workpiece reference point).
Syntax
$NT_CLOSE_CHAIN_P[<n>] = "<ElementName>"
Meaning
$NT_CLOSE_CHAIN_P: Name of the element of the kinematic chain currently in effect, at the end
of which the subchain for the workpiece reference point is closed
Data type: STRING
Default value: ""
Data type: INT
ues:
Data type: STRING
Example
For the first transformation, the name of the element of the kinematic chain, at the end of which
the part chain for the workpiece reference point is closed, is: "P_Offset_3"

N100 $NT_CLOSE_CHAIN_P[1] = "P_Off- ; 1st transformation,
set_3" ; element for closing the subchain
; to the workpiece reference point
See also
$NT_CNTRL (Page 298)
Transformations
4.2 Commissioning
4.2.4.14 $NT_CLOSE_CHAIN_T
Function
The name ($NT_NAME (Page 279)) of the element of the currently active kinematic chain, at
the end of which the subchain for the tool reference point is closed if $NT_CNTRL, Bit 8 == 1
($NT_CNTRL (Page 298)), can be entered in the system variable.
If no name is entered in the system variable, the subchain is closed independently of
$NT_CNTRL, Bit 8, at the end of the last element (tool reference point).
Syntax
$NT_CLOSE_CHAIN_T[<n>] = "<ElementName>"
Meaning
$NT_CLOSE_CHAIN_T: Name of the element of the kinematic chain currently in effect, at the end
of which the subchain for the tool reference point is closed
Data type: STRING
Default value: ""
Data type: INT
ues:
Data type: STRING
Example
For the first transformation, the name of the element of the kinematic chain, at the end of which
the part chain for the tool reference point is closed, is: "T_Offset_3"

N100 $NT_CLOSE_CHAIN_T[1] = "T_Off- ; 1st transformation,
set_3" ; element for closing the subchain
; to the tool reference point
Transformations
4.2 Commissioning
4.2.4.15 $NT_ROT_OFFSET_FROM_FRAME
Function
In the system variable $NT_ROT_OFFSET_FROM_FRAME it must be entered whether the
programmable offset for orientation axes will be automatically imported from the zero point
offset for the orientation axes, which becomes active upon switch-on of an orientation
transformation.
● TRAORI or TRAORY_DYN:
– If $NT_ROT_OFFSET_FROM_FRAME=1 the following applies:
The offsets for the orientation axes of the 5/6 axis transformation of the rotary axes, for
which the tool orientation is in the basic setting, are automatically defined. Thus, the
offset from an active work offset of the rotary axes, which is active as soon as the
transformation is switched on, is applied.
– If $NT_ROT_OFFSET_FROM_FRAME=0, then the following applies:
The offset of the orientation axes is only applied if the work offsets when switching on the
transformation are kept, i.e. MD10602 $MN_FRAME_GEOAX_CHANGE_MODE is > 0.
● TRACYL and/or TRANSMIT
– If $NT_ROT_OFFSET_FROM_FRAME=2, the following applies:
Axial offset of the rotary axis is taken into account up to the SZS. SZS is the settable zero
Note
Automatic application of work offsets
Automatic application of the active work offsets to the offset is mainly only practical for the polar
axis in table kinematics. i.e. for example, in AC kinematics for the C axis. If the offset is changed
for another orientation axis, in particular, the non-polar axis, this changes the kinematic
behavior of the transformation. The can result in the compensatory movement of the linear axes
no longer being correct.
Syntax
$NT_ROT_OFFSET_FROM_FRAME[<n>] = "<ROTOffset>"
Meaning
$NT_ROT_OFFSET_FROM_FRAME: Importing the rotary axis offset from the work offset upon se‐
lection of the transformation:
● 2 = Axial offset of the rotary axis is taken into account up to
the SZS or is automatically applied (see above).
Data type: INT
Default value: 0
Transformations
4.2 Commissioning

Data type: INT
Value range: 0, 1, 2
ROTOffset Rotary axis offset
Example
The 2nd transformation is assigned the name "B axis":

N100 $NT_ROT_OFFSET_FROM_FRAME[1] = ; axial offset of the rotary axis is taken
1 into account.
4.2.4.16 $NT_TRAFO_INCLUDES_TOOL
Function
Information about whether the tool length is to be handled within the transformation or outside
of the transformation must be entered in the system variable.
Syntax
$NT_TRAFO_INCLUDES_TOOL[<n>] = "<>"
Meaning
$NT_TRAFO_INCLUDES_TOOL: Defines whether the tool length is handled within or outside of the
transformation.
Data type: BOOL
● 0: Tool length is handled outside of the
transformation.
● 1: Tool length is handled within the transformation.
Default val‐ 0
ue:
Data type: INT
Range of 1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)
values:
Transformations
4.2 Commissioning
Example

N100 $NT_TRAFO_INCLUDE_TOOL[1] = ; 1st transformation,
"1" ; tool length is processed within the
transformation.
4.2.4.17 $NT_AUX_POS
Function
A position vector, e.g. for use in user-specific cycles, can be entered in the system variable. The
system variable is not evaluated in the NC. The values are, however, automatically
recalculated for an inch/metric switchover.
Syntax
$NT_AUX_POS[<n>,<k>] = <Value>
Meaning
$NT_AUX_POS: User-specific position vector

Data type: REAL
Default value: (0.0, 0.0, 0.0)
Data type: INT
<k>: Index of the vector coordinates
Data type: INT
Range of values: 0: X coordinate (abscissa)
1: Y coordinate (ordinate)
<Value>: Coordinate value
Data type: REAL
Transformations
4.2 Commissioning
Example
A position vector (1.0, 1.0, 1.0) is entered for the first transformation:

; position vector:
N100 $NT_AUX_POS[1,0] = 1.0 ; X coordinate (abscissa)
N110 $NT_AUX_POS[1,1] = 1.0 ; Y coordinate (ordinate)
N120 $NT_AUX_POS[1,2] = 1.0 ; Z coordinate (applicate)
4.2.4.18 $NT_IDENT
Function
Up to three user-specific numeric values, analogous to the system variable $TC_CARR37, can
be entered in the system variable as an identifier for the tool carrier or the current transformation
for program management. The system variable is not evaluated in the NC.
Syntax
$NT_IDENT[<n>,<k>] = <Value>
Meaning
$NT_IDENT: User-specific administration data

Data type: INT
Default value: (0, 0, 0)
Data type: INT
<k>: Index of the administration data
Data type: INT
Range of values: 0, 1, 2
<Value>: User-specific value
Data type: INT
Transformations
4.2 Commissioning
Example
The following administration data is entered for the first transformation: (1000, 100, 0)

; position vector:
N100 $NT_AUX_POS[1,0] = 1000 ; identifier: Toolholder
N110 $NT_AUX_POS[1,1] = 100 ; identifier: Transformation
N120 $NT_AUX_POS[1,2] = 0 ; -
4.2.4.19 $NT_CNTRL
Function
With this system variable, the behavior of the transformation in specific situations can be
influenced using bit code.
Bit Value Meaning

0 --- Not assigned
1-3 Orientation axes as speed-controlled spindles
Bit 1: 1st orientation axis
Bit 2: 2nd orientation axis
Bit 3: 3rd orientation axis
0 The orientation axis is operated as a speed-controlled axis.
1 The orientation axis is operated as a speed-controlled spindle.
Note
The following scenarios are currently supported:
● Only the 1st orientation axis (Bit 1 = 1) is operated as a speed-controlled spindle
● Only the 3rd orientation axis (Bit 3 = 1) is operated as a speed-controlled
spindle
Some examples are the applications "Turning on milling machines" or "5-axis mill‐
ing", in which the third orientation axis is not operated with position control.
Transformations
4.2 Commissioning
Bit Value Meaning

4-6 Orientation axes with Hirth joint
Bit 4: 1st orientation axis
Bit 5: 2nd orientation axis
Bit 6: 3rd orientation axis
0 The orientation axis is not Hirth-coupled.
1 The orientation axis is Hirth-coupled.
Note
● Parameters of the Hirth joint
The following machine data is evaluated for the parameters of the Hirth joint:
– MD30501 $MA_INDEX_AX_NUMERATOR
– MD30502 $MA_INDEX_AX_DENOMINATOR
– MD30503 $MA_INDEX_AX_OFFSET
MD30505 $MA_HIRTH_IS_ACTIVE is not evaluated. I.e. the axis does not
have to be parameterized as a genuine Hirth axis.
● Modulo rotary axes
For modulo rotary axes (MD30310 $MA_ROT_IS_MODULO==TRUE),
MD30330 $MA_MODULO_RANGE is evaluated instead of MD30501
$MA_INDEX_AX_NUMERATOR. The distances of the permitted axis positions
are then calculated for:
Distance = $MA_MODULO_RANGE / $MA_INDEX_AX_DENOMINATOR
MD30503 $MA_INDEX_AX_OFFSET is also evaluated for modulo rotary axes
7 An additional constant element of the type "OFFSET" is automatically NC-internally inserted
into the subchain for the workpiece reference point in such a way that the chain is closed.
0 The element connects the workpiece reference point to the machine zero point.
1 The element connects the end point of the element that is referenced
by $NT_CLOSE_CHAIN_P (Page 292) to the machine zero point.
8 An additional constant element of the type "OFFSET" is automatically NC-internally inserted
into the subchain for the tool reference point in such a way that the chain is closed.
0 The element connects the tool reference point to the machine zero point.
1 The element connects the end point of the element that is referenced
by $NT_CLOSE_CHAIN_T (Page 293) to the machine zero point.
9 The scope of functions of TRANSMIT or TRACYL transformations is specified more precise‐
ly. If a center offset axis has been specified via $NT_ROT_AX_NAME, the behavior can be
set.
0 The center offset axis can be interpolated in any way and has no influence on the
transformation.
1 The center offset axis compensates the tool offset in the Y direction. Processing up
to the center of rotation is possible.
10 0 Parameterizes TRACYL without slot side offset.
1 Parameterizes TRACYL with slot side offset.
In connection with bit 9 = 1, you can set whether TRACYL is operated with or
without slot side offset upon activation of the transformation via TRAFOON. The
default setting is slot side offset active
If you are working with slot side offset, $NT_GEO_AX_NAME must contain a ref‐
erence to a linear axis (slot side offset axis).
Transformations
4.2 Commissioning
Bit Value Meaning

11 0 The direction of rotation of the pole axis remains unchanged.
1 The direction of rotation of the pole axis is inverted.
12 ... 15 Reserved for OEM transformations.
16 ... 18 Binary coding using bits 16, 17 and 18 (bits H10000 - H40000) defines how the
channel axes, which are entered in $NT_GEO_AX_NAME [n,1],
$NT_GEO_AX_NAME [n,2] and $NT_GEO_AX_NAME [n,3], are assigned to the
geometry axes. The geometry axis identifiers are assigned in the order (X, Y, Z).
0 X Y Z
1 Z X Y
2 Y Z X
3 Z Y X
4 X Z Y
5 Y X Z
19 0
1 The last kinematic chain element, which defines the tool reference point, must be
a rotary axis. The rotation vector of the rotary axis then defines the Z direction of
the tool coordinate system. The rotation about the tool Z axis that is defined in this
way results from the corresponding definition for the local coordinate system of an
axis in kinematic chains.
If the system variable $NK_A_OFF of this chain element contains a value not equal
to zero, the tool coordinate system is also rotated about the coordinate axis with
this angle.
20 0 The sign of the axis for determining the tool coordinate system in the Z direction is
retained.
1 The sign of the axis for determining the tool coordinate system in the Z direction is
inverted if also bit 19 is set.
Syntax
$NT_CNTRL[<n>] = "<Value>"
Meaning
$NT_CNTRL: Bit-coded control variable of the transformation ('Bdcbbbaaa0')

Data type: INT
Default value: 0
Data type: INT
<Value>: Bit-coded control value
Data type: INT
Transformations
4.2 Commissioning
Example
The third orientation axis of the first transformation is Hirth-coupled.

N100 $NT_CNTRL[1] = 'B001000000' ; 1st transformation,
4.2.4.20 $NT_ROT_AX_CNT
Function
The system variable $NT_ROT_AX_CNT provides the number of the relevant rotary axes in the
workpiece or in the tool chain. The relevant rotary axes in this sense are the rotary axes that are
defined in the system variable $NT_ROT_AX_Name.
Syntax
$NT_ROT_AX_CNT[<n,m>] = <NumberRotAxes>
Meaning
$NT_ROT_AX_CN Number of relevant rotary axes of a transformation in the workpiece chain or tool
T: chain
Data type: INT
Default value: -1; content is not evaluated
Data type: INT
<m>: Index of the variable $NT_ROT_AX_CNT; specifies which kinematic chain will be
selected.
Data type: INT
Value range ● 0; selects the workpiece chain
● 1; selects the tool chain
Example
Provides the number of rotary axes for the subchain:

N100 $NT_ROT_AX_CNT[1,0] = 2 ; Transformation 1 has two rotary axes.
Transformations
4.2 Commissioning
4.2.4.21 $NT_BASE_TOOL_COMP
Function
Using bit-coded system variable $NT_BASE_TOOL_COMP, for each of the geometry axes you
can separately set whether for the base tool an offset is entered in transformation frame
$P_TRAFRAME. This means that when the transformation is selected, no change is made in
the WCS component.
This function is only available if system frame $P_TRAFRAME was configured using MD28082
$MC_MM_SYSTEM_FRAME_MASK bit6.
The system variable is only relevant for TRANSMIT and TRACYL.
Syntax
$NT_BASE_TOOL_COMP[<n>, <m>]
Meaning
$NT_BASE_TOOL_ Bit-coded system variable

COMP: Data type: INT
Default value:
Data type: INT
<m>: Bits for coding the offset:
● Bit 0 acts in the direction of the X axis (geometry axis 1)
● Bit 1 acts in the direction of the Y axis (geometry axis 2)
● Bit 2 acts in the direction of the Z axis (geometry axis 3)
Data type: INT
Example

N100 $NT_BASE_TOOL_COMP[n,0]; ; Transformation "n" is compensated for
in the X-axis direction.
Transformations
4.2 Commissioning
4.2.5 Additive system variable for orientation transformation
4.2.5.1 Overview

$NT_BASE_ORIENT Basic tool orientation
$NT_BASE_ORIENT_NORMAL Normal vector of the orientation
$NT_ROT_AX_POS Axis positions of the orientation axes, which are parameterized as
constant rotations
$NT_POLE_LIMIT End angle tolerance with interpolation through pole
$NT_POLE_TOL End angle tolerance for pole interpolation
$NT_IGNORE_TOOL_ORIENT Always take tool orientation from $NT_BASE_ORIENT /
$NT_BASE_ORIENT_NORMAL.
$NT_CORR_ELEM_T Names of the correction elements in the tool chain that can be
written to by the CORRTRAFO(...) function.
$NT_CORR_ELEM_P Names of the correction elements in the subchain that can be writ‐
ten to by the CORRTRAFO(...) function.
Note
Element names
Changes to system variable values of the transformation data $NT_... only become effective
4.2.5.2 $NT_BASE_ORIENT
Function
The rotation vector of the basic tool orientation must be entered in the system variable. The
basic tool orientation is in effect if no tool is selected.
Transformations
4.2 Commissioning
Syntax
$NT_BASE_ORIENT[<n>,<k>] = <VectorComp>
Meaning
$NT_BASE_ORIENT: Rotation vector of the basic tool orientation (X; Y; Z)

Data type: REAL
Value range: Direction vector: 1*10-6 < |Vector | ≤ max. REAL value
Data type: INT
<k>: Index of the coordinates
Data type: INT
<VectorComp>: Coordinate value of the vector component
Data type: STRING
Example
The rotation vector of the basic tool orientation of the first transformation has the value (1.0, 2.0,
3.0):

; vector components:
N100 $NT_BASE_ORIENT[1,0] = 1.0 ; X coordinate (abscissa)
N110 $NT_BASE_ORIENT[1,1] = 2.0 ; Y coordinate (ordinate)
N120 $NT_BASE_ORIENT[1,2] = 3.0 ; Z coordinate (applicate)
4.2.5.3 $NT_BASE_ORIENT_NORMAL
Function
The normal vector of the basic tool orientation must be entered in the system variable. The
system variable or the normal vector of the basic tool orientation is only relevant for
transformations with three degrees of orientation freedom if no tool is selected.
Transformations
4.2 Commissioning
Syntax
$NT_BASE_ORIENT_NORMAL[<n>,<k>] = <VectorComp>
$NT_BASE_ORIENT_NORMA Normal vector of the basic tool orientation (X; Y; Z)

L: Data type: REAL
Value range: Normal vector: 1*10-6 < |Vector | ≤ max. REAL value
Data type: INT
<k>: Index of the coordinates
Data type: INT
<VectorComp>: Coordinate value of the vector component
Data type: STRING
Example
The normal vector of the basic tool orientation of the first transformation has the value (2.0, -1.0,
3.0):

; vector components:
N100 $NT_BASE_ORIENT_NORMAL[1,0] = 2.0 ; X coordinate (abscissa)
N110 $NT_BASE_ORIENT_NORMAL[1,1] = -1.0 ; Y coordinate (ordinate)
N120 $NT_BASE_ORIENT_NORMAL[1,2] = 3.0 ; Z coordinate (applicate)
4.2.5.4 $NT_ROT_AX_POS
Function
The positions of the orientation axes, which result from the constant rotations which are
parameterized in elements of the kinematic chain of the type ROT_CONST, must be entered
in the system variable. The positions of the orientation axes that are effective due to this
element can thus be described without having to know the kinematic structure of the
transformation or the indices of the associated kinematic elements.
Syntax
$NT_ROT_AX_POS[<n>,<k>] = <OriAxPos>
Transformations
4.2 Commissioning
Meaning
$NT_ROT_AX_POS: Positions of the orientation axes due to the constant rotation

Data type: REAL
Range of val‐ - max. REAL value ≤ x ≤ + max. REAL value
ues:
Data type: INT
ues:
<k>: Index of the orientation axes
Data type: INT
Range of val‐ 0: 1st orientation axis
ues: 1: 2nd orientation axis
2: 3rd orientation axis
<OriAxPos>: Position value
Data type: REAL
Example
The positions of the orientation axes, which result from the parameterized constant rotation,
are: (0, 0, 45.0°)

; positions of the orientation axes:
N100 $NT_ROT_AX_POS[1,0] = 0 ; 1st orientation axis
N110 $NT_ROT_AX_POS[1,1] = 0 ; 2nd orientation axis
N120 $NT_ROT_AX_POS[1,2] = 45.0 ; 3rd orientation axis
4.2.5.5 $NT_POLE_LIMIT
Function
The maximum permitted angle by which the C axis can deviate from its programmed position
during a large circle interpolation at the end of a block is entered in the system variable.
End angle
If a traversing movement is programmed that is not to pass exactly through the pole, but within
the area near to the pole defined by MD 24530 ($MC_TRAFO5_NON_POLE_LIMIT_n), the
movement will deviate from the specified path because the interpolation runs exactly through
the pole point. As a result, the position at the end point of the fourth axis (pole axis) deviates
from the programmed value.
A pole angle, which defines a tolerance circle about the pole, can be parameterized in the
Transformations
4.2 Commissioning
system variables. If a programmed tool path passes by the pole within the tolerance circle, a
switchover is made from orientation interpolation to linear/rotary axis interpolation.

&

( 6
˞
˖ (
① Pole
② Equatorial plane
③ Programmed path
④ Path traveled through the pole
⑤ End angle
A Rotary axis about the X coordinate axis of the WCS
C Rotary axis about the Z coordinate axis of the WCS
S Starting point of the interpolation / traversing block
E Approached end point
E' Programmed end point
α End angle
Ω Maximum permitted end angle ($NT_POLE_LIMIT)
Syntax
$NT_POLE_LIMIT[<n>] = <PoleTolAngle>
Meaning
$NT_POLE_LIMIT: Pole angle

Unit: Degrees
Data type: REAL
Default value: 2.0
Range of val‐ - max. REAL value ≤ x ≤ + max. REAL value
ues:
Transformations
4.2 Commissioning

Data type: INT
ues:
<PoleTolAngle>: Tolerance value
Data type: REAL
Example
A pole angle of 2.54° is set for the first transformation:

N100 $NT_POLE_LIMIT[1] = 2.54 ; 1st transformation,
; pole angle
4.2.5.6 $NT_POLE_LIMIT
Function
The maximum permitted angle by which the C axis can deviate from its programmed position
during a large circle interpolation at the end of a block is entered in the system variable.
End angle
In the 5-axis transformation, the two orientation axes of the tool span a spherical coordinate
system, consisting of meridians and parallels.
If a traversing movement is programmed that is not to pass exactly through the pole, but within
the area near to the pole defined by MD 24530 ($MC_TRAFO5_NON_POLE_LIMIT_n), the
movement will deviate from the specified path because the interpolation runs exactly through
the pole point. As a result, the position at the end point of the fourth axis (pole axis) deviates
from the programmed value.
The system variable specifies the angle by which the pole axis for the 5-axis transformation can
deviate from the programmed value if there is a switchover from the programmed interpolation
to the interpolation through the pole point.
If a large deviation results, an error message is displayed (Alarm 14112) and the interpolation
is not carried out.
For a conventional 5 or 6-axis interpolation, a pole position is identified by the fact that the tool
orientation does not change during a rotation of a rotary axis. If a programmed path then runs
in the vicinity of the pole, extremely high traversing speeds can result for individual rotary axes
to maintain the orientation. If the programmed path runs exactly through the pole, this problem
may not arise under certain circumstances.
Transformations
4.2 Commissioning
A pole angle, which defines a tolerance circle about the pole, can be parameterized in the
system variables. If a programmed tool path passes by the pole within the tolerance circle, a
switchover is made from orientation interpolation to linear/rotary axis interpolation.

&

( 6
˞
˖ (
① Pole
② Equatorial plane
③ Programmed path
④ Path traveled through the pole
⑤ End angle
A Rotary axis about the X coordinate axis of the WCS
C Rotary axis about the Z coordinate axis of the WCS
S Starting point of the interpolation / traversing block
E Approached end point
E' Programmed end point
α End angle
Ω Maximum permitted end angle ($NT_POLE_LIMIT)
Syntax
$NT_POLE_LIMIT[<n>] = <PoleTolAngle>
Meaning
$NT_POLE_LIMIT: Pole angle

Unit: Degrees
Data type: REAL
Default value: 2.0
Value range: - max. REAL value ≤ x ≤ + max. REAL value
Transformations
4.2 Commissioning

Data type: INT
ues:
<PoleTolAngle>: Tolerance value
Data type: REAL
Example
A pole angle of 2.54° is set for the first transformation:

N100 $NT_POLE_LIMIT[1] = 2.54 ; 1st transformation,
; pole angle
4.2.5.7 $NT_POLE_TOL
Function
The end angle tolerance for interpolation through the pole for the first 5/6-axis transformation
must be entered in the system variable.
The system variable is only evaluated by the generic 5/6-axis transformation.
If the programmed end orientation lies within the polar cone and within the tolerance cone
specified by this MD, the pole axis does not move and retains its start positions. In contrast, the
other rotary axis accepts the programmed angle.
As a result, there is a deviation of the end orientation from the programmed orientation.
Another meaning of this system variable is the handling of the programmed end orientation for
non-perpendicular kinematics. As a rule, not all of the tool orientations can be set for these
machine kinematics. If an orientation that lies outside of the settable range is programmed,
alarm 14112 "Programmed orientation path not possible" is displayed.
Syntax
$NT_POLE_TOL[<n>] = <PoleTolLim>
Meaning
$NT_POLE_TOL: End angle tolerance for pole interpolation

Data type: REAL
Default value: 0.0
Value range: 0.0 ≤ x ≤ 45.0
Data type: INT
Transformations
4.2 Commissioning
<PoleTolLim>: Angle
Data type: REAL
Example
An end angle tolerance of 2.54° is defined for the first transformation:

N100 $NT_POLE_TOL[1] = 2.54 ; 1st transformation,
; end angle tolerance
4.2.5.8 $NT_IGNORE_TOOL_ORIENT
Function
Each tool that is known in the controller has a defined orientation. This tool orientation is
normally used as the basis for the calculations of the movements of the orientation axes. The
system variable can be used to define a situation in which, even with a tool active, it is not the
tool orientation, but the orientation parameterized in the system variables $NT_BASE_ORIENT
(Page 303) and $NT_BASE_ORIENT_NORMAL (Page 304) that is used for the calculations of
the movements of the orientation axes.
Syntax
$NT_IGNORE_TOOL_ORIENT[<n>] = <Value>
Meaning
$NT_IGNORE_TOOL_ORIEN Switchover to the orientation parameterized in the system variables

T: $NT_BASE_ORIENT and $NT_BASE_ORIENT_NORMAL for calculat‐
ing the movements of the orientation axes
Data type: BOOL
Default value: FALSE
Data type: INT
ues:
<Value>: Value
Data type: BOOL
Transformations
4.2 Commissioning
Example
For the first transformation, the orientation parameterized in the system variables
$NT_BASE_ORIENT and $NT_BASE_ORIENT_NORMAL for calculating the movements of
the orientation axes is activated:

N100 $NT_IGNORE_TOOL_ORIENT[1] = TRUE ; 1st transformation,
; orientation as per system variables
4.2.5.9 $NT_CORR_ELEM_T
Function
This system data is used to reference a maximum of 4 constant chain elements ($NK_NAME)
in the tool chain, which are provided for accepting offset values (linear offsets), as they are
determined in measurement cycles, for example. The offset values are calculated by the
function CORRTRAFO (Page 318). This is only important for orientation transformations.
There must always be an orientation axis in the kinematic chain between two of these elements.
This means that all 4 chain elements can only be occupied for 6-axis transformations in which
all 3 orientation axes are defined in the tool chain; whereas, for 5-axis transformations, for
example, this system data can only contain a maximum of three entries.
The entire kinematic chain, from the machine zero point (reference point of the kinematic chain)
to the tool holder, is divided into a maximum of 4 sections by the orientation axes. There can be
a maximum of one correction element in each of these sections. The correction element with
the index n must be located in the nth section (example: $NT_CORR_ELEM_T[k, 1] must refer
to a chain element between the first and second orientation axis of the tool chain).
Syntax
$NT_CORR_ELEM_T[<n>, <k>] = "<CORR_TElementName>"
Meaning
$NT_CORR_ELEM_T: Names of the elements of the kinematic chain currently in effect.

Data type: STRING
Default value: ""
Data type: INT
<k>: Position in the kinematic tool chain
Data type: INT
Value range: 0...3
Transformations
4.2 Commissioning
<CORR_TElementName>: Name of an element of the kinematic chain that is currently in effect,

which accepts an offset value (linear offset).
Data type: STRING
Example
Defines an correction element in the tool chain that is used to include offset values.

$NT_CORR_ELEM_T(1,2) = Corr_1; Refers to a correction element in the tool
chain of transformation "1" and position "2".
4.2.5.10 $NT_CORR_ELEM_P
Function
This system data is used to reference a maximum of 4 constant chain elements ($NK_NAME)
in the part chain, which are provided for accepting offset values (linear offsets), as they are
determined in measurement cycles, for example. The offset values are calculated by the
function CORRTRAFO (Page 318). This is only important for orientation transformations.
There must always be an orientation axis in the kinematic chain between two of these elements.
This means that all 4 chain elements can only be occupied for 6-axis transformations in which
all 3 orientation axes are defined in the tool chain; whereas, for 5-axis transformations, for
example, this system data can only contain a maximum of three entries.
The entire kinematic chain, from the machine zero point (reference point of the kinematic chain)
to the workpiece center point (part), is divided into a maximum of 4 sections by the orientation
axes. There can be a maximum of one correction element in each of these sections. The
correction element with the index n must be located in the nth section (example:
$NT_CORR_ELEM_T[k, 1] must refer to a chain element between the first and second
orientation axis of the part chain).
Syntax
$NT_CORR_ELEM_P[<n>,<m>,<k>] = "<CORR_PElementName>"
Meaning
$NT_CORR_ELEM_P: Names of the elements of the kinematic chain currently in effect.

Data type: STRING
Default value: ""
Data type: INT
Transformations
4.2 Commissioning
<k>: Position in the kinematic tool chain

Data type: INT
Value range: 0...3
<CORR_PElementName>: Name of an element of the kinematic chain that is currently in effect, which
accepts an offset value (linear offset).
Data type: STRING
Example
Defines an correction element in the workpiece chain that is used to accept offset values.

$NT_CORR_ELEM_P(1,2) = Corr_1 Refers to a correction element in the work-
piece chain of transformation "1" and posi-
tion "2".
4.2.6 Additive system variable for face transformation (TRANSMIT)
4.2.6.1 Overview

$NT_POLE_SIDE_FIX Limitation of the working area before and after the pole
Note
Element names
Changes to system variable values of the transformation data $NT_... only become effective
Transformations
4.2 Commissioning
4.2.6.2 $NT_POLE_SIDE_FIX
Function
Using the system variable, the limitation of the work area must be set before and after the pole.
Syntax
$NT_POLE_SIDE_FIX[<n>] = <POLESIDEFIX>
Meaning
$NT_POLE_SIDE_FIX: Names of the elements of the kinematic chain currently in effect, which
define the rotary axes
Data type: INT
Default value: ""
Value range: Element names of the currently active kinematic
chain
Data type: INT
Range of values: 1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS -
1)
<PoleSIDEFIX>: Limiting the work area:
● 0 = no limitation; traversing through the pole is allowed.
● 1 = work area of the linear axis for positions ≥ 0 (if tool length offset
is parallel to linear axis = 0).
● 2 = work area of the linear axis for positions ≤ 0 (if tool length offset
is parallel to linear axis = 0).
Data type: STRING
Example
which define the rotary axes, are "ROT_AXIS_1", ROT_AXIS_2" and "ROT_AXIS_3".

; elements of the rotary axes:
N100 $NT_ROT_AX_NAME[1,0] = "ROT_AXIS_1" ; 1st rotary axis
N110 $NT_ROT_AX_NAME[1,1] = "ROT_AXIS_2" ; 2nd rotary axis
N120 $NT_ROT_AX_NAME[1,2] = "ROT_AXIS_3" ; 3rd rotary axis
Transformations
4.2 Commissioning
4.2.7 Additive system variables for transformation chains (TRACON_K)
4.2.7.1 $NT_TRACON_CHAIN
Function
For chained transformations ($NT_TRAFO_TYPE[...] = "TRACON_K") with this system
variable, the names of the part transformations are specified in the order in which the
transformation of the BKS to the MKS is to be carried out.
Syntax
$NT_TRACON_CHAIN[<n>,<m>] = "<Name>"
Meaning
$NT_TRACON_CHAIN: System variable for specifying the partial transformations for

chained transformations
Data type: INT
Range of values: 1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRA‐
FOS - 1)
<m>: Position of the partial transformation in the transformation chain
Data type: INT
<name>: Name of the partial transformation
Data type: STRING
Example
...
N2502 $NT_TRACON_CHAIN[2,0] = "Open Architecture Transformation" ; Partial transformation 1
N2503 $NT_TRACON_CHAIN[2,1] = "Inclined axis" ; Partial transformation 2
...
Transformations
4.3 Programming
4.3 Programming
4.3.1 Activating a transformation (TRAFOON)

A transformation defined with kinematic chains is activated with the predefined TRAFOON
procedure. The call must be alone in a block.
Note
Alternatively, a transformation defined with kinematic chains can also be activated via
conventional NC commands, such as TRAORI or TRANSMIT. For this purpose, an appropriate
value, not equal to zero, must be entered in the $NT_TRAFO_INDEX system variable.
For further information on $NT_TRAFO_INDEX see "System Variables List Manual".
Syntax
TRAFOON(<Trafoname>,<Diameter>,<k>)
Meaning
TRAFOON: Procedure for activating a transformation defined with kinematic chains

<Trafoname>: Name of the transformation data set
Data type: STRING
Range of val‐ All names of transformation data sets defined via $NK_NAME
ues: (Page 279)
Note:
The name of the transformation data set must be unique. It must only occur once
in $NT_NAME.
<Diameter>: Reference or working diameter (TRACYL only)
Data type: REAL
The value must be > 1.
<k>: Defines the use of the groove side offset (TRACYL only).
Data type: BOOL
Value: FALSE Without groove side offset
TRUE With groove side offset
Corresponds to the TRACYL transformation type 514 (groove side offset can be
programmed). If <k> is not specified, the parameterized setting of bit 10 in
$NT_CNTRL[<n>] applies.
Example
TRAFOON["Trans_1"] Activates the transformation with the name Trans_1.
Transformations
4.3 Programming
4.3.2 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.
Note
The correction values written with the CORRTRAFO function are not immediately effective in
the transformation. The correction values do not become effective until after a transformation
deselection, NEWCONF and transformation selection.
Syntax
<Corr_Status> = CORRTRAFO(<Corr_Vect>, <Corr_Index>, <Corr_Mode>,
[ <No_Alarm>])
Transformations
4.3 Programming
Meaning
CORRTRAFO: Function call
Transformations
4.3 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>). Only
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 posi‐
tion of <Corr_Mode> is equal to 0. If the thousands position of
this parameter is equal to 1 (monitoring of the maximum cor‐
rection 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> parame‐
ter will be overwritten by an error vector. This also applies when
the processing is aborted with alarm (see <No_Alarm> pa‐
rameter).
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.
Transformations
4.3 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
Transformations
4.3 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.
Thou‐ Specifies whether the correction is to be limited by the following
sands maximum value:
position: ● SD41610 $SN_CORR_TRAFO_LIN_MAX (Page 276)
or
● SD41611 $SN_CORR_TRAFO_DIR_MAX (Page 276)
0xxx Monitoring of the maximum correction is active.
1xxx Monitoring of the maximum correction is not active.
Transformations
4.3 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 276)
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
4.3 Programming
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Figure 4-7 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).
Transformations
4.4 Examples
Point to close the tool chain

If the $NT_CLOSE_CHAIN_T system variable is not empty, the tool chain is not closed at the
end point of the chain, but rather at the end point of the designated chain element. Other chain
elements that are behind this point result in a corresponding work offset when the
transformation is activated.
Index of an orientation axis

In addition to the constants offsets between the orientation axes, the direction vectors of the
orientation axes can also be written with the CORRTRAFO function. The index of an orientation
axis is the index that results when the kinematic subchain is run through from the origin to the
end, where the count starts at zero. The index of an orientation axis is therefore always the
same as the index of the preceding section.
The index of an orientation axis can also be determined with the $AC_TRAFO_ORIAX_LOC
system variable.
Maximum permissible change of a chain element

The maximum permissible change of a chain element can be limited by the two setting data
SD41610 $SN_CORR_TRAFO_LIN_MAX for offset vectors and SD41611
$SN_CORR_TRAFO_DIR_MAX for direction vectors of the orientation axes. SD41610
$SN_CORR_TRAFO_LIN_MAX specifies the maximum amount by which each individual
vector component can be changed with regard to its reference value. SD41611
$SN_CORR_TRAFO_DIR_MAX specifies the maximum angle by which the direction of the
axis vector can be changed with regard to its reference value. The reference value is always the
corresponding value that is active in the transformation that is active when CORRTRAFO is
called. This means that the changed content of the kinematic data may have no effect on the
method of operation of the CORRTRAFO function after the activation of the transformation.
4.4 Examples
4.4.1 Settings for TRAORI_DYN
General Information
An example of the basic procedure for parameterizing a transformation with a kinematic chain
via a part program is shown on the basis of a 5-axis machine. All of the system variables,
relevant for kinematic chain, are written to the part program:
● Kinematic chains with $NK_...
● Transformation with kinematic chain $NT_...
Option and machine data

The following option and machine data must be set for the example:
● MD18866 $MN_MM_NUM_KIN_TRAFOS = 2
Transformations
4.4 Examples
Transformation with a kinematic chain

Two kinematic chains are defined for the description:
● One kinematic chain points to the workpiece reference point (workpiece coordinate system).
● The second kinematic chain points to the tool reference point.
● The transformation type is "TRAORI_DYN".
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Figure 4-8 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.
Transformations
4.4 Examples
● 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.
● The following orientation axes are defined:
– C axis
– B axis
● The following linear compensating axes are defined:
– X axis
– Y axis
– Z axis
Transformations
4.4 Examples
4.4.2 Part program for TRAORI_DYN

Example program "5-axis transformation C-B"
Transformations
4.4 Examples
Program code
;===========================================================
; Definitions
;===========================================================
N10 DEF INT KIE_CNTR = 0 ; counter for elements of the kin. chains
;===========================================================
; deletion of all transformation data sets and kinematic chain elements
;===========================================================
N20 IF (DELOBJ(“TRAFO_DATA”) < 0)
N30 SETAL(61000)
N40 ENDIF
N50 IF (DELOBJ(“KIN_CHAIN_ELEM”) < 0)

N60 SETAL(61001)
N70 ENDIF
;===========================================================
; definition of the root element and of the kinematic chain to the tool
reference point
;===========================================================
N80 $NK_NAME[KIE_CNTR] = "ROOT"
N90 $NK_TYPE[KIE_CNTR] = "OFFSET"
N100 $NK_NEXT[KIE_CNTR] = "X axis"
N110 $NK_PARALLEL[KIE_CNTR] = "Table offset"
N120 KIE_CNTR = KIE_CNTR + 1
;===========================================================
; Definition of the linear axis in X direction
;===========================================================
N130 $NK_NAME[KIE_CNTR] = "X axis"
N140 $NK_TYPE[KIE_CNTR] = "AXIS_LIN"
N150 $NK_NEXT[KIE_CNTR] = "Y axis"
N160 $NK_AXIS[KIE_CNTR] = "X1"
N170 $NK_OFF_DIR[KIE_CNTR,0] = 1.0
;===========================================================
; definition of the linear axis in Y direction
;===========================================================
N190 $NK_NAME[KIE_CNTR] = "Y axis"
N210 $NK_NEXT[KIE_CNTR] = "Z axis"
N220 $NK_AXIS[KIE_CNTR] = "Y1"
;===========================================================
; Definition of the linear axis in Z direction
;===========================================================
N250 $NK_NAME[KIE_CNTR] = "Z axis"
N270 $NK_NEXT[KIE_CNTR] = "C axis offset"
N280 $NK_AXIS[KIE_CNTR] = "Z1"
;===========================================================
; definition of the distance between the linear axes and the first rotary
axis
;===========================================================
N310 $NK_NAME[KIE_CNTR] = "C axis offset"
Transformations
4.4 Examples
Program code
N330 $NK_NEXT[KIE_CNTR] = "C axis"

;===========================================================
; definition of the C axis in the Z direction - refers to axis C1
;===========================================================
N370 $NK_NAME[KIE_CNTR] = "C axis"
N380 $NK_TYPE[KIE_CNTR] = "AXIS_ROT"
N390 $NK_NEXT[KIE_CNTR] = "B axis offset"
N400 $NK_AXIS[KIE_CNTR] = "C1"
;===========================================================
; definition of the B axis with an offset between the B and C axes
;===========================================================
N430 $NK_NAME[KIE_CNTR] = "B axis offset"
N450 $NK_NEXT[KIE_CNTR] = "B axis"
N460 $NK_OFF_DIR[KIE_CNTR,2] = -150.0
N480 $NK_NAME[KIE_CNTR] = "B axis"

N490 $NK_TYPE[KIE_CNTR] = "AXIS_ROT"
N500 $NK_NEXT[KIE_CNTR] = "Base tool"
N510 $NK_AXIS[KIE_CNTR] = "B1"
;===========================================================
; conclusion of the kinematic chain with an offset
;===========================================================
N540 $NK_NAME[KIE_CNTR] = "Base tool"
N560 $NK_NEXT[KIE_CNTR] = “”
N570 $NK_OFF_DIR[KIE_CNTR,2] = -50.0
;===========================================================
; definition of the kinematic chain to the table reference point
;===========================================================
N590 $NK_NAME[KIE_CNTR] = "Table offset"
;===========================================================
; Definition of the transformation (TRAORI)
;===========================================================
N640 $NT_NAME[1] = "5-axis transformation C-B"
N650 $NT_T_CHAIN_LAST_ELEM[1] = "base tool"
N660 $NT_P_CHAIN_LAST_ELEM[1] = "Table offset"
N670 $NT_TRAFO_TYPE[1] = “TRAORI_DYN”
;===========================================================
; Definition of the orientation and geometry axes
;===========================================================
Transformations
4.4 Examples
Program code
N680 $NT_ROT_AX_NAME[1,0] = "C axis"
N690 $NT_ROT_AX_NAME[1,1] = "B axis"
N700 $NT_GEO_AX_NAME[1,0] = "X axis"
N710 $NT_GEO_AX_NAME[1,1] = "Y axis"
N720 $NT_GEO_AX_NAME[1,2] = "Z axis"
End
Transformations
4.4 Examples
4.4.3 Part program for TRANSMIT

Example program "5-axis transformation C-B"
Transformations
4.4 Examples
Program code
;===========================================================
; Simple example of TRANSMIT with kinematic chain:

;******************************************************
N10 DEF INT _KIE_CNTR
N20 DEF INT _TRA_CNTR
N30 R2 = DELOBJ("TRAFO_DATA")
N40 R2 = DELOBJ("KIN_CHAIN_ELEM")
N50 _KIE_CNTR = 0
N60 _TRA_CNTR = 1
; Definition of the kinematic chain
;******************************************************
N70 $NK_NAME[_KIE_CNTR] = "ROOT"
N80 $NK_TYPE[_KIE_CNTR] = "OFFSET"
N90 $NK_NEXT[_KIE_CNTR] = "X-Axis"
N100 $NK_PARALLEL[_KIE_CNTR] = "C-Axis"
N110 _KIE_CNTR = _KIE_CNTR + 1
N120 $NK_NAME[_KIE_CNTR] = "X-Axis"
N130 $NK_TYPE[_KIE_CNTR] = "AXIS_LIN"
N140 $NK_NEXT[_KIE_CNTR] = "Z-Axis"
N150 $NK_AXIS[_KIE_CNTR] = "X1"
N160 $NK_OFF_DIR[_KIE_CNTR,0] = 1.0
N180 $NK_NAME[_KIE_CNTR] = "Z-Axis"
N200 $NK_NEXT[_KIE_CNTR] = "Y-Axis"
N210 $NK_AXIS[_KIE_CNTR] = "Z1"
N240 $NK_NAME[_KIE_CNTR] = "Y-Axis"
N260 $NK_NEXT[_KIE_CNTR] = ""
N270 $NK_AXIS[_KIE_CNTR] = "Y1"
N300 $NK_NAME[_KIE_CNTR] = "C-Axis"
N310 $NK_TYPE[_KIE_CNTR] = "AXIS_ROT"
N330 $NK_AXIS[_KIE_CNTR] = "C1"
N340 $NK_OFF_DIR[_KIE_CNTR,2] = -1.0
; Definition of the kinematic transformation:

;******************************************************
; 1. TRANSMIT 256
;******************************************************
N360 $NT_NAME[_TRA_CNTR] = "Trafo Transmit_1"
N370 $NT_TRAFO_TYPE[_TRA_CNTR] = "TRANSMIT_K"
N380 $NT_P_CHAIN_LAST_ELEM[_TRA_CNTR] = "C-Axis"
N390 $NT_T_CHAIN_LAST_ELEM[_TRA_CNTR] = "Z-Axis"
N400 $NT_GEO_AX_NAME[_TRA_CNTR,0] = "X-Axis"
N410 $NT_GEO_AX_NAME[_TRA_CNTR,1] = ""
N420 $NT_GEO_AX_NAME[_TRA_CNTR,2] = "Z-Axis"
N430 $NT_ROT_AX_NAME[_TRA_CNTR,0] = ""
N440 $NT_ROT_AX_NAME[_TRA_CNTR,1] = "C-Axis"
Transformations
4.4 Examples
Program code
N460 $NT_ROT_OFFSET_FROM_FRAME[_TRA_CNTR] = 1
N470 $NT_CNTRL[_TRA_CNTR] = 'H0'
N480 _TRA_CNTR = _TRA_CNTR + 1
; 2nd TRANSMIT 257
;******************************************************
N490 $NT_NAME[_TRA_CNTR] = "Trafo Transmit_2"
N500 $NT_TRAFO_TYPE[_TRA_CNTR] = "TRANSMIT_K"
N520 $NT_T_CHAIN_LAST_ELEM[_TRA_CNTR] = "Y-Axis"
N540 $NT_GEO_AX_NAME[_TRA_CNTR,1] = "Y-Axis"
N600 $NT_CNTRL[_TRA_CNTR] = 'H200' ; TRANSMIT 257
;******************************************************
; Activate kinematic chain and transformation:
;******************************************************
N620 NEWCONF
N630 STOPRE
;*************************************************************************
*************************
End
Transformations
4.4 Examples
4.4.4 Part program for TRACYL

Example program "TRACYL"
Transformations
4.4 Examples
Program code
;===========================================================
; Simple example of TRACYL with kinematic chain:

;******************************************************
N670 $NK_PARALLEL[_KIE_CNTR] = "C-Axis"
N870 $NK_NAME[_KIE_CNTR] = "C-Axis"
N880 $NK_TYPE[_KIE_CNTR] = "AXIS_ROT"
N900 $NK_AXIS[_KIE_CNTR] = "C1"
N910 $NK_OFF_DIR[_KIE_CNTR,2] = -1.0
; Definition of the kinematic transformation:

;******************************************************
; 1. TRACYL 512
;******************************************************
N920 $NT_NAME[_TRA_CNTR] = "Trafo Tracyl 512"
N930 $NT_TRAFO_TYPE[_TRA_CNTR] = "TRACYL_K"
N940 $NT_T_CHAIN_LAST_ELEM[_TRA_CNTR] = "X-Axis"
N970 $NT_GEO_AX_NAME[_TRA_CNTR,1] = ""
N1030 $NT_CNTRL[_TRA_CNTR] = 'H0'
; 2nd TRACYL 513
;******************************************************
Transformations
4.4 Examples
Program code
N1160 $NT_CNTRL[_TRA_CNTR] = 'H200' ; TRACYL 513
; 3rd TRACYL 514
;******************************************************
N1290 $NT_CNTRL[_TRA_CNTR] = 'H400' ; TRACYL 514
;******************************************************
;Activate kinematic chain and transformation:
;******************************************************
N1310 NEWCONF
N1320 STOPRE
;*************************************************************************
*************************
End
Transformations
4.4 Examples
4.4.5 Part program for TRAANG

Example program "TRAANG"
Program code
;===========================================================
; Simple example of TRAANG with kinematic chain

;******************************************************
N2030 $NK_PARALLEL[_KIE_CNTR] = ""
N2090 $NK_OFF_DIR[_KIE_CNTR,0] = COS(20)
N2100 $NK_OFF_DIR[_KIE_CNTR,2] = SIN(20)
; definition of the kinematic transformation:

;******************************************************
; TRRANG
;******************************************************
N2240 $NT_NAME[_TRA_CNTR] = "Trafo Traang"
N2250 $NT_TRAFO_TYPE[_TRA_CNTR] = "TRAANG_K"
N2270 $NT_P_CHAIN_LAST_ELEM[_TRA_CNTR] = ""
N2290 $NT_GEO_AX_NAME[_TRA_CNTR,2] = "Y-Axis
;******************************************************
; Activate kinematic chain and transformation:
;******************************************************
N2330 NEWCONF
N2340 STOPRE
;*************************************************************************
*************************
Transformations
4.4 Examples
Program code
End
Transformations
4.4 Examples
Transformations
Appendix A
A.1 List of abbreviations
A
O Output
ADI4 (Analog drive interface for 4 axes)
AC Adaptive Control
ALM Active Line Module
ARM Rotating induction motor
AS Automation system
ASCII American Standard Code for Information Interchange: American coding standard for
the exchange of information
ASIC Application-Specific Integrated Circuit: User switching circuit
ASUB Asynchronous subprogram
AUXFU Auxiliary function: Auxiliary function
STL Statement List
UP User Program
B
OP Operating Mode
BAG Mode group
BCD Binary Coded Decimals: Decimal numbers encoded in binary code
BERO Contact-less proximity switch
BI Binector Input
BICO Binector Connector
BIN BINary files: Binary files
BIOS Basic Input Output System
BCS Basic Coordinate System
BO Binector Output
OPI Operator Panel Interface
C
CAD Computer-Aided Design
CAM Computer-Aided Manufacturing
CC Compile Cycle: Compile cycles
CEC Cross Error Compensation
CI Connector Input
CF Card Compact Flash Card
Transformations
Appendix
C
CNC Computerized Numerical Control: Computer-Supported Numerical Control
CO Connector Output
CoL Certificate of License
COM Communication
CPA Compiler Projecting Data: Configuring data of the compiler
CRT Cathode Ray Tube: picture tube
CSB Central Service Board: PLC module
CU Control Unit
CP Communication Processor
CPU Central Processing Unit: Central processing unit
CR Carriage Return
CTS Clear To Send: Ready to send signal for serial data interfaces
CUTCOM Cutter radius Compensation: Tool radius compensation
D
DAC Digital-to-Analog Converter
DB Data Block (PLC)
DBB Data Block Byte (PLC)
DBD Data Block Double word (PLC)
DBW Data Block Word (PLC)
DBX Data block bit (PLC)
DDE Dynamic Data Exchange
DDS Drive Data Set: Drive data set
DIN Deutsche Industrie Norm
DIO Data Input/Output: Data transfer display
DIR Directory: Directory
DLL Dynamic Link Library
DO Drive Object
DPM Dual Port Memory
DPR Dual Port RAM
DRAM Dynamic memory (non-buffered)
DRF Differential Resolver Function: Differential revolver function (handwheel)
DRIVE-CLiQ Drive Component Link with IQ
DRY Dry Run: Dry run feedrate
DSB Decoding Single Block: Decoding single block
DSC Dynamic Servo Control / Dynamic Stiffness Control
DW Data Word
DWORD Double Word (currently 32 bits)
Transformations
Appendix
E
I Input
EES Execution from External Storage
I/O Input/Output
ENC Encoder: Actual value encoder
EFP Compact I/O module (PLC I/O module)
ESD Electrostatic Sensitive Devices
EMC ElectroMagnetic Compatibility
EN European standard
ENC Encoder: Actual value encoder
EnDat Encoder interface
EPROM Erasable Programmable Read Only Memory: Erasable, electrically programmable
read-only memory
ePS Network Services Services for Internet-based remote machine maintenance
EQN Designation for an absolute encoder with 2048 sine signals per revolution
ES Engineering System
ESR Extended Stop and Retract
ETC ETC key ">"; softkey bar extension in the same menu
F
FB Function Block (PLC)
FC Function Call: Function Block (PLC)
FEPROM Flash EPROM: Read and write memory
FIFO First In First Out: Memory that works without address specification and whose data is
read in the same order in which they was stored
FIPO Fine interpolator
FPU Floating Point Unit: Floating Point Unit
CRC Cutter Radius Compensation
FST Feed Stop: Feedrate stop
FBD Function Block Diagram (PLC programming method)
FW Firmware
G
GC Global Control (PROFIBUS: Broadcast telegram)
GDIR Global part program memory
GEO Geometry, e.g. geometry axis
GIA Gear Interpolation dAta: Gear interpolation data
GND Signal Ground
GP Basic program (PLC)
GS Gear Stage
GSD Device master file for describing a PROFIBUS slave
Transformations
Appendix
G
GSDML Generic Station Description Markup Language: XML-based description language for
creating a GSD file
GUD Global User Data: Global user data
H
HEX Abbreviation for hexadecimal number
AuxF Auxiliary function
HLA Hydraulic linear drive
HMI Human Machine Interface: SINUMERIK user interface
MSD Main Spindle Drive
HW Hardware
I
IBN Commissioning
ICA Interpolatory compensation
IM Interface Module: Interconnection module
IMR Interface Module Receive: Interface module for receiving data
IMS Interface Module Send: Interface module for sending data
INC Increment: Increment
INI Initializing Data: Initializing data
IPO Interpolator
ISA Industry Standard Architecture
ISO International Standardization Organization
J
JOG Jogging: Setup mode
K
KV Gain factor of control loop
Kp Proportional gain
KÜ Transformation ratio
LAD Ladder Diagram (PLC programming method)
L
LAI Logic Machine Axis Image: Logical machine axes image
LAN Local Area Network
LCD Liquid Crystal Display: Liquid crystal display
LED Light Emitting Diode: Light-emitting diode
LF Line Feed
Transformations
Appendix
L
PMS Position Measuring System
LR Position controller
LSB Least Significant Bit: Least significant bit
LUD Local User Data: User data (local)
M
MAC Media Access Control
MAIN Main program: Main program (OB1, PLC)
MB Megabyte
MCI Motion Control Interface
MCIS Motion Control Information System
MCP Machine Control Panel: Machine control panel
MD Machine Data
MDA Manual Data Automatic: Manual input
MDS Motor Data Set: Motor data set
MSGW Message Word
MCS Machine Coordinate System
MM Motor Module
MPF Main Program File: Main program (NC)
MCP Machine control panel
N
NC Numerical Control: Numerical control with block preparation, traversing range, etc.
NCU Numerical Control Unit: NC hardware unit
NRK Name for the operating system of the NC
IS Interface Signal
NURBS Non-Uniform Rational B-Spline
WO Work Offset
NX Numerical Extension: Axis expansion board
O
OB Organization block in the PLC
OEM Original Equipment Manufacturer
OP Operator Panel: Operating equipment
OPI Operator Panel Interface: Interface for connection to the operator panel
OPT Options: Options
OLP Optical Link Plug: Fiber optic bus connector
OSI Open Systems Interconnection: Standard for computer communications
Transformations
Appendix
P
PIQ Process Image Output
PII Process Image Input
PC Personal Computer
PCIN Name of the SW for data exchange with the control
PCMCIA Personal Computer Memory Card International Association:
Plug-in memory card standardization
PCU PC Unit: PC box (computer unit)
PG Programming device
PKE Parameter identification: Part of a PIV
PIV Parameter identification: Value (parameterizing part of a PPO)
PLC Programmable Logic Control: Adaptation control
PN PROFINET
PNO PROFIBUS user organization
PO POWER ON
POU Program Organization Unit
POS Position/positioning
POSMO A Positioning Motor Actuator: Positioning motor
POSMO CA Positioning Motor Compact AC: Complete drive unit with integrated power and control
module as well as positioning unit and program memory; AC infeed
POSMO CD Positioning Motor Compact DC: Like CA but with DC infeed
POSMO SI Positioning Motor Servo Integrated: Positioning motor, DC infeed
PPO Parameter Process data Object: Cyclic data telegram for PROFIBUS DP transmission
and "Variable speed drives" profile
PPU Panel Processing Unit (central hardware for a panel-based CNC, e.g SINUMERIK
828D)
PROFIBUS Process Field Bus: Serial data bus
PRT Program Test
PSW Program control word
PTP Point-To-Point: Point-To-Point
PUD Program global User Data: Program-global user variables
PZD Process data: Process data part of a PPO
Q
QEC Quadrant Error Compensation
R
RAM Random Access Memory: Read/write memory
REF REFerence point approach function
REPOS REPOSition function
RISC Reduced Instruction Set Computer: Type of processor with small instruction set and
ability to process instructions at high speed
ROV Rapid Override: Input correction
Transformations
Appendix
R
RP R Parameter, arithmetic parameter, predefined user variable
RPA R Parameter Active: Memory area in the NC for R parameter numbers
RPY Roll Pitch Yaw: Rotation type of a coordinate system
RTLI Rapid Traverse Linear Interpolation: Linear interpolation during rapid traverse motion
RTS Request To Send: Control signal of serial data interfaces
RTCP Real Time Control Protocol
S
SA Synchronized Action
SBC Safe Brake Control: Safe Brake Control
SBL Single Block: Single block
SBR Subroutine: Subprogram (PLC)
SD Setting Data
SDB System Data Block
SEA Setting Data Active: Identifier (file type) for setting data
SERUPRO SEarch RUn by PROgram test: Block search, program test
SFB System Function Block
SFC System Function Call
SGE Safety-related input
SGA Safety-related output
SH Safe standstill
SIM Single in Line Module
SK Softkey
SKP Skip: Function for skipping a part program block
SLM Synchronous Linear Motor
SM Stepper Motor
SMC Sensor Module Cabinet Mounted
SME Sensor Module Externally Mounted
SMI Sensor Module Integrated
SPF Sub Routine File: Subprogram (NC)
PLC Programmable Logic Controller
SRAM Static RAM (non-volatile)
TNRC Tool Nose Radius Compensation
SRM Synchronous Rotary Motor
LEC Leadscrew Error Compensation
SSI Serial Synchronous Interface: Synchronous serial interface
SSL Block search
STW Control word
GWPS Grinding Wheel Peripheral Speed
SW Software
SYF System Files: System files
SYNACT SYNchronized ACTion: Synchronized Action
Transformations
Appendix
T
TB Terminal Board (SINAMICS)
TCP Tool Center Point: Tool tip
TCP/IP Transport Control Protocol / Internet Protocol
TCU Thin Client Unit
TEA Testing Data Active: Identifier for machine data
TIA Totally Integrated Automation
TM Terminal Module (SINAMICS)
TO Tool Offset: Tool offset
TOA Tool Offset Active: Identifier (file type) for tool offsets
TRANSMIT Transform Milling Into Turning: Coordination transformation for milling operations on a
lathe
TTL Transistor-Transistor Logic (interface type)
TZ Technology cycle
U
UFR User Frame: Work offset
SR Subprogram
USB Universal Serial Bus
UPS Uninterruptible Power Supply
V
VDI Internal communication interface between NC and PLC
VDI Verein Deutscher Ingenieure [Association of German Engineers]
VDE Verband Deutscher Elektrotechniker [Association of German Electrical Engineers]
VI Voltage Input
VO Voltage Output
FDD Feed Drive
W
SAR Smooth Approach and Retraction
WCS Workpiece Coordinate System
T Tool
TLC Tool Length Compensation
WOP Workshop-Oriented Programming
WPD Workpiece Directory: Workpiece directory
TRC Tool Radius Compensation
T Tool
TO Tool Offset
TM Tool Management
TC Tool change
Transformations
Appendix
X
XML Extensible Markup Language
Z
WOA Work Offset Active: Identifier for work offsets
ZSW Status word (of drive)
Transformations
Appendix
Transformations
Index
$P_TOOL_R, 211
$P_TOOLROT, 210
$ $VC_TOOL_O, 211
$VC_TOOL_O_DIFF, 211
$AC_TOOL_O_ACT, 210
$VC_TOOL_R, 211
$AC_TOOL_O_DIFF, 210
$VC_TOOL_R_DIFF, 211
$AC_TOOL_O_END, 210
$VC_TOOLO, 209
$AC_TOOL_R_ACT, 211
$VC_TOOLO_DIFF, 209
$AC_TOOL_R_DIFF, 211
$VC_TOOLO_STAT, 209
$AC_TOOL_R_END, 211
$VC_TOOLR, 210
$AC_TOOLO_ACT, 209
$VC_TOOLR_DIFF, 210
$AC_TOOLO_DIFF, 209
$VC_TOOLR_STAT, 210
$AC_TOOLO_END, 209
$AC_TOOLR_ACT, 210
$AC_TOOLR_DIFF, 210
$AC_TOOLR_END, 210
2
$AC_TRAFO_CORR_ELEM_P, 324 2-axis swivel head, 189
$AC_TRAFO_CORR_ELEM_T, 324
$AC_TRAFO_ORIAX_LOC, 325
$NT_AUX_POS, 296 3
$NT_BASE_ORIENT, 304
3-axis and 4-axis transformation, 139
$NT_BASE_ORIENT_NORMAL, 305
3-axis and 4-axis transformations, 160
$NT_BASE_TOOL_COMP, 302
3-axis kinematics, 188
$NT_CLOSE_CHAIN_P, 292
3-axis to 5-axis transformation
$NT_CLOSE_CHAIN_T, 293, 325
Call and application, 170
$NT_CNTRL, 300, 324
3-axis transformations, 174
$NT_CORR_ELEM_P, 313, 324
$NT_CORR_ELEM_T, 312, 324
$NT_GEO_AX_NAME, 288
$NT_IDENT, 297
4
$NT_IGNORE_TOOL_ORIENT, 311 4-axis kinematics, 188
$NT_NAME, 279, 317 4-axis Transformation, 139
$NT_P_CHAIN_FIRST_ELEM, 284 4-axis transformations, 174
$NT_P_CHAIN_LAST_ELEM, 286
$NT_POLE_LIMIT, 307, 309
$NT_POLE_SIDE_FIX, 315 5
$NT_POLE_TOL, 310
5-axis kinematics, 188
$NT_ROT_AX_CNT, 301
5-axis transformation
$NT_ROT_AX_NAME, 290
Geometry of the machine, 149
$NT_ROT_AX_OFFSET, 291
Singular positions, 157
$NT_ROT_AX_POS, 305
Tool orientation, 153
$NT_ROT_OFFSET_FROM_FRAME, 294
5th degree polynomial, 225
$NT_T_CHAIN_FIRST_ELEM, 283
$NT_T_CHAIN_LAST_ELEM, 285
$NT_T_REF_ELEM, 287
$NT_TRACON_CHAIN, 316
6
$NT_TRAFO_INCLUDES_TOOL, 295 6FC5800-0AM28-0YB0, 66
$NT_TRAFO_INDEX, 280, 317
$NT_TRAFO_TYPE, 281
$P_TOOL_O, 210
Transformations
Index
DB21, …
DBX33.6, 171
7 Defining geometry axes, 127
Direction of rotation, 228
7-axis transformation, 183
Direction vector, 228
Example, 246
Kinematics, 184
E
A Effects on HMI operation, 94
Effects on orientations, 175
Activating rotation, 225
End face transformation, 262
Activation, 172
End orientation, 227
All transformations, 129
Euler angles, 154
Angle of rotation, 229
Example, 95
Exceptions, 76
Extended interpolation of orientation axes, 227
B Extensions, 76
Basic orientation, 191
Behavior at pole, 158
Boundary conditions, 95 F
Frames, 95
C
Cardan milling head, 167 G
Applications, 167
G5, 74
JOG, 170
G7, 74
Cartesian manual travel, 116, 143
G91 extension
Cartesian PTP travel, 98, 102, 103
Zero offset, 219
Chained transformations, 81
Generic 5-axis transformation and variants, 172
Persistent transformation, 93
Generic orientation transformation variants, 174
Change in orientation, 228
Groove side offset, 43
Changing the assignment, 127
Collision avoidance
Fundamentals example, 325
Compression mode, 195
I
Compressor, 194 Identifying the axis sequence, 148
CORRTRAFO, 318 Inclined axis transformations, 130
CP, 102, 103 Intermediate orientation, 228
Cycle832 Interpolation of the angle of rotation, 224
Rotary axes, 260 Interpolation of the rotation vector, 225
Cylinder coordinate system, 39 Interpolation type and selection, 220
Cylinder surface transformation, 38, 265
J
D JOG, 95
DB21, ...
DBX29.4, 99
DBX317.6, 99 K
DBX318.2, 233, 234
Kinematic transformation, 145
DBX318.3, 233
Kinematic chain, 255
Transformations
Index
TRACYL, 265 MD24100, 148, 176, 177, 178, 179, 180

TRANSMIT, 262 MD24110, 148, 177, 213
Kinematics MD24120, 117
Swiveling linear axis, 140 MD24200, 176, 179
Kinematics transformation MD24210, 177
Definition, 256 MD24410, 213
Dynamic orientation transformation, 258 MD24432, 213
MD24462, 213
MD24500, 178, 179
L MD24510, 177
MD24520, 152, 178
Large circle interpolation, 186
MD24530, 158
Limit angle for the fifth axis, 158
MD24540, 158, 189
MD24550, 178, 179
MD24558, 179
M MD24560, 178, 179
Machine kinematics, 173 MD24567, 182
Machine types, 147, 176 MD2457, 175
5-axis transformation, 173 MD24570, 173, 177
Main entry, 66 MD24572, 174, 177
MD10000, 68, 137 MD24574, 175, 177
MD10620, 154 MD24580, 212
MD10640, 154 MD24582, 176
MD10674, 219 MD24585, 212, 213
MD18114, 182 MD24590, 217
MD18882, 276 MD24620, 178
MD20060, 68, 137 MD24630, 158
MD20080, 68, 137 MD24640, 158, 189
MD20110, 171 MD24670, 175
MD20142, 276 MD24674, 177
MD20150, 156 MD24680, 212
MD20178, 199 MD24682, 176, 179
MD20482, 195 MD24690, 217
MD20610, 233 MD28590, 198
MD21094, 207 MD30455, 101
MD21100, 154, 215, 223 MD32100, 152
MD21102, 215 MD33100, 194
MD21104, 215 Modulo display, 218
MD21106, 116, 187
MD21108, 159
MD21120, 212 N
MD21150, 214
NC block compressor, 194
MD21155, 214
Not transformation-specific, 131
MD21160, 214
MD21165, 214
MD21170, 214
MD21180, 193, 247
O
MD21186, 217 Oblique angle transformation (TRAANG)
MD21190, 232, 233 with fixed angle, 66, 73
MD21194, 233 with programmable angle, 66, 72
MD21198, 276 Oblique plunge-cut grinding, 74
MD21199, 276 Offset, 184
Transformations
Index
Online tool length offset, 231

Opening angle, 229
Opening angle of the cone, 227 R
Operating modes
Replaceable geometry axis, 33
JOG, 186
Restrictions for kinematics and interpolation, 188
Optimization of velocity control, 71
Rotary axis of the cone, 227
ORICONCCW, 228, 230
Rotary axis position
ORICONCW, 228, 230
calculating, 193
ORICONIO, 228, 230
Rotation of the orientation vector, 223, 224
ORICONTO, 229
RPY angles, 154
ORICURVE, 229
Orientation, 186, 191
Orientation axes, 143, 212
Modulo display, 218
S
Orientation direction, 223 SD41610, 276, 325
Orientation direction and rotation, 224 SD41611, 276, 325
Orientation in TCS and MCS, 154 SD42475, 195
Orientation motion SD42476, 195
with axis limits, 193 SD42477, 195
Orientation programming, 153 SD42650, 116
Orientation relative to the path, 200 SD42660, 188
Orientation transformation, 145 SD42670, 205
Programming, 214 SD42672, 205
Orientation transformation and orientable tool SD42678, 199
holders, 217 SD42680, 199
Orientation transformations, 129 SD42970, 233
Orientation vector, 220 SD42974, 177
Orientation with axis interpolation, 186 Selection and deselection, 76, 94
ORIMKS, 154 Singular positions, 157
ORIPLANE, 228, 230 Singularities, 189
ORISOF, 199 Smoothing
ORISON, 198, 199 of the orientation characteristic, 199
ORIWKS, 154, 183 the orientation characteristic, 198
Special features of JOG, 56
Start orientation, 227
P STAT, 104
swiveled linear axis
Point-to-point travel, 102, 103
Pole, 162
Pole, 158
Swiveling linear axis, 140
Polynomial interpolation, 220
System variable, 94
Orientation vector, 219
System variables
Polynomials for 2 angles, 220
for orientation, 138
POLYPATH, 220
Programming
Cartesian position, 185
Orientation, 185
T
Polynomial, 219 Tool chain, 323
PTP, 98, 102, 103 Tool orientation, 143
PTPG0, 98, 102, 103 Tool orientation using orientation vectors, 157, 189
PTPWOC, 98, 102, 103 Tool tip at a fixed point in space, 154
Toolholder, with orientation capability
Programming, 189
Transformations
Index
TRAANG
Restrictions, 76
with fixed angle, 66, 73
with programmable angle, 66, 72
TRACON, 86
TRACYL, 52, 265
Tracyl transformations, 130
TRACYL_BAE_TOOL_t, 51
TRACYL_ROT_AX_OFFSET_t, 49
TRACYL_Rot_Sign_IS_PLUS_t, 50
TRAFOON, 317
Transformation active, 171
Transformation chain, setpoint positions, 83
Transformation inactive, 171
Transformations
Concatenated, 86
Translation, 116
TRANSMIT, 33, 262
Transmit transformations, 130
TRANSMIT_ROT_AX_OFFSET_t, 32
TU, 108
U
Universal milling head, 142
V
Velocity control, 77
W
Workpiece chain, 323
Transformations
Index
Transformations

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Preface

Siemens AG Document order number: A5E47435470B AA Copyright © Siemens AG 2019.

Note regarding the General Data Protection Regulation

Information on the structure and contents

Notation of system data

Signal/Data Notation Example

Type Meaning Range of values

Querying REAL variables

Program code Comment

Program code Comment

2.3.3.3 Oblique plunge-cutting on grinding machines (G5, G7) .........................................................74

3.1.5 Universal milling head ..........................................................................................................142

3.10.5 Orientation transformation and orientable tool holders ........................................................217

4.2.1.2 Structure of the system variables.........................................................................................274

4.4 Examples .............................................................................................................................325

1.2 Warranty and liability for application examples

1.3 Industrial security

Further information is provided on the Internet:

2.1.1.2 Machining options

Traversal along linear axis

① Travel into the pole

① Travel into the pole

Special features relating to pole traversal

Table 2-1 Traversal of pole along the linear axis

Mode Status Response

Special features relating to rotation in pole

Traversal close to pole

Tool center point path with corner in pole

① Travel into the pole

Corner without pole traversal

① Travel into the pole

Transformation selection in pole

Transformation selection outside pole

2.1.1.3 Working area limitations

① Unmachinable cylinder - working area limitation

Traverse into working area limitation

Response close to working area limitation

2.1.1.4 Overlaid motions with TRANSMIT

2.1.1.5 Monitoring of rotary axis rotations over 360º

Machine data: Transformation data in general

Machine data: TRANSMIT transformation

● MD2xxxx $MC_TRANSMIT_BASE_TOOL_<n> (vector of the base tool)

2.1.2.2 Axis configuration

① Effective if TRANSMIT is active.

Machine axis name

● MD10000 $MN_AXCONF_MACHAX_NAME_TAB[ 2 ] = "ZM"

Geometry axis names

Channel axis names

Assignment of geometry axes to channel axes

Assignment of channel axes to machine axes

● MD35000 $MA_SPIND_ASSIGN_TO_MACHAX[ 2 ] = 0 (axis)

2.1.2.3 Specific settings

One rotary and one linear axis: TRAFO_TYPE = 256

Input axes of the transformation: $MC_TRAFO_AXES_IN_<n>

One rotary and two linear axes: TRAFO_TYPE = 257

Input axes of the transformation: $MC_TRAFO_AXES_IN_<n>

Rotary axis offset: TRANSMIT_ROT_AX_OFFSET

Direction of rotation: TRANSMIT_ROT_SIGN_IS_PLUS

① Positive direction of rotation