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Section 66.1 Setup 5-axis transformation TRAORI

Configuration of machine data

Setup 5-axis transformation TRAORI


Prerequisites:

5-axis transformation TRAORI is an option and must be licensed.

A set of transformation data for the 5-axis transformation TRAORI must be set up in the machine$MC_TRAFO_ .... .

Parameterization of orientable tool carrier data

Machine types for which the table or tool can be rotated, can either be operated as true 5-axis ma-chines or as conventional machines with orientable tool carriers. In both cases, machine kinematicsis determined by the same data, which, due to different parameters, previously had to be enteredtwice - for tool holder via system variables and for transformations via machine data. The new trans-formation 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 transformationtype 72 with kinematic data read from the data for an orientable tool holder:

MD24100 $MC_TRAFO_TYPE_1 = 72 (definition of 1st transformation)MD24200 $MC_TRAFO_TYPE_2 = 72 (definition of 2nd transformation)MD24300 $MC_TRAFO_TYPE_3 = 72 (definition of 3rd transformation)MD24400 $MC_TRAFO_TYPE_4 = 72 (definition of 4th transformation)

Each transformation can be assigned to a TCARR number in the following channel machine data:

MD24582 $MC_TRAFO5_TCARR_NO_1 = 1 (e.g. TCARR=1 for the 1st 5-axis transformation) orMD24682 $MC_TRAFO5_TCARR_NO_2 = 2 (e.g. TCARR=2 for the 2nd 5-axis transformation) orMD25282 $MC_TRAFO5_TCARR_NO_3 = 3 (e.g. TCARR=3 for the 3rd 5-axis transformation) orMD25382 $MC_TRAFO5_TCARR_NO_4 = 4 (e.g. TCARR=4 for the 4th 5-axis transformation).

The corresponding transformation type can then be derived from the content of the kinematic typewith parameter $TC_CARR23 (see following table).

Machine type 1 2 3 4

Swivel-/rotary table: Tool Workpiece Tool/workpiece Orientable toolholder TCARR

Kinematic Type: T P M T,P,M

Transformationtype:

24 40 56 72 from content of$TC_CARR23

Note:

It is possible to define up to 10 Transformation types per channel, from which a maximum of 4 canbe 5-axis transformations.

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Axis assignment

MD 24110[0] - [19] $MC_TRAFO_AXES_IN_1 (Channel axis assignment transformation 1)MD 24210[0] - [19] $MC_TRAFO_AXES_IN_2 (Channel axis assignment transformation 2)......

The axis assignment at the start of the 5-axis transformation defines the axis that will be mapped bythe transformation internally onto a channel axis [n]. Thus, the following is defined in the machinedata below:

MD24110[0] $MC_TRAFO_AXES_IN_1 (Channel axis 1 of transformation 1)MD24110[1] $MC_TRAFO_AXES_IN_1 (Channel axis 2 of transformation 1)MD24110[2] $MC_TRAFO_AXES_IN_1 (Channel axis 3 of transformation 1)MD24110[3] $MC_TRAFO_AXES_IN_1 (Channel axis 4 of transformation 1)MD24110[4] $MC_TRAFO_AXES_IN_1 (Channel axis 5 of transformation 1)......

MD 24120[0] - [2] $MC_TRAFO_GEOAX_ASSIGN_TAB_1 (Geometry axes assignment trafo 1)

MD 24220[0] - [2] $MC_TRAFO_GEOAX_ASSIGN_TAB_2 (Geometry axes assignment trafo 2)......

This MD states the geometry axes on which the axes [n] of the Cartesian coordinate system aremapped for the active transformation 1 - 10.See following example:

MD 24120[0] $MC_TRAFO_GEOAX_ASSIGN_TAB_1 (Geometry axis 1 of transformation 1) MD 24120[1] $MC_TRAFO_GEOAX_ASSIGN_TAB_1 (Geometry axis 2 of transformation 1) MD 24120[2] $MC_TRAFO_GEOAX_ASSIGN_TAB_1 (Geometry axis 3 of transformation 1)

Corresponds with:MD20050[0] - [2] $MC_AXCONF_GEOAX_ASSIGN_TAB (Geometry axis name in channel)

Settings the tool reference point with active 5-axis transformation

MD 24130 $MC_TRAFO_INCLUDES_TOOL_1 (Tool handling with 1st active transformation)MD 24230 $MC_TRAFO_INCLUDES_TOOL_2 (Tool handling with 2nd active transformation).....

This machine data states for each channel weather the tool is included in the transformation or not.

It is evaluated on the condition that the orientation of the tool with reference to the basic coordinate-axis

If this MD is set, the basic coordinate system (BCS) refers to the tool reference point even with activetransformation. Otherwise it refers to the tool tip point (TTP).

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Assignment of Rotary axis direction

MD24520[0] - [1] $MC_TRAFO5_ROT_SIGN_IS_PLUS_1(Sign of rotary axis 1/2 for the 2nd 5-axis transformation)MD24620[0] - [1] $MC_TRAFO5_ROT_SIGN_IS_PLUS_1(Sign of rotary axis 1/2 for the 1st 5-axis transformation)

This machine data designates the sign with which the two rotary axes are included in the first 5-axistransformation of a channel.

MD = 0 (FALSE):Sign is reversed.

MD = 1 (TRUE) :Sign is not reversed and the traversing direction is defined according toMD32100 $MA_AX_MOTION_DIR.

This machine data does not mean that the rotational direction of the rotary axis concerned is to bereversed, but specifies whether its motion is in the mathematically positive or negative directionwhen the axis is moving in the positive direction.

The result of a change to this machine data is not therefore a change in the rotational direction, but achange in the compensatory motion of the linear axes.

However, if a directional vector and thus, implicitly, a compensatory motion is specified, the result is achange in the rotational direction of the rotary axis concerned.

On a real machine, therefore, the machine data may be set to FALSE (or zero) only if the rotary axisis turning in an anti-clockwise direction when moving in a positive direction.

Setting the kinematics initial orientation

Basic tool orientation vector

MD24574 $MC_TRAFO5_BASE_ORIENT_1 [0..2] (Tool orient. vector channel axis 1st 5-axis trafo) MD24674 $MC_TRAFO5_BASE_ORIENT_2 [0..2] (Tool orient. vector channel axis 2nd 5-axis trafo).....

This MD indicates the vector of the base tool orientation (initial kinematic setting) in the general 5-axis transformation (TRAFO_TYPE_ = 24, 40, 56, 72) if this is not defined on the transformation call(G17, G18, G19) or read from a programmed tool in the program.

MD24574[0] $MC_TRAFO5_BASE_ORIENT_1 (tool base orientation vector X)MD24574[1] $MC_TRAFO5_BASE_ORIENT_1 (tool base orientation vector Y)MD24574[2] $MC_TRAFO5_BASE_ORIENT_1 (tool base orientation vector Z)

MD24580 $MC_TRAFO5_TOOL_VECTOR_1 (direction of orientation vector for 1st 5-axis trafo)

This machine data indicates the direction of the orientation vector for the first 5-axis transformationfor each channel0: Tool vector in X direction1: Tool vector in Y direction 2: Tool vector in Z direction (default)

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Setting of the tool orientation normal vector

MD24576[0]-[2] $MC_TRAFO6_BASE_ORIENT_NORMAL_1 (tool normal vector 1st 5-axis trafo)MD24676[0]-[2] $MC_TRAFO6_BASE_ORIENT_NORMAL_2 (tool normal vector 2nd 5-axis trafo).....

The initial setting of the orientation normal vector for angular head attachments in the orientationtransformation with TRAORI can be defined in one of the following three ways:

1. Vector components are programmed with TRAORI (, , , ) and transferred asparameters 2 to 4 :Parameter 1: Transformation No. ()Parameter 2 - 4: Orientation normal vector (, , ),

2. If no orientation normal vector has been programmed and a tool is active, the vector is taken fromthe tool parameters in the tool list (tool types 130,131).

3. If no orientation normal vector has been programmed and also no tool is active, the vector definedin the following machine data is used.

MD24576[0] $MC_TRAFO6_BASE_ORIENT_1 (tool normal vector X)MD24576[1] $MC_TRAFO6_BASE_ORIENT_1 (tool normal vector Y)MD24576[2] $MC_TRAFO6_BASE_ORIENT_1 (tool normal vector Z)

The position of the orientation coordinate system of a standard tool depends on the active planeG17, G18, G19 according to the following table:

G17 G18 G19

Direction of tool orientation vector Z Y X

Direction of orientation normal vector Y X Z

Table 1- 5 Position of the orientation coordinate system

Note:

This machine data is only important when working with angle head attachments in combination with5-axis transformation, whereby the angle head has a fixed angle set parallel to one of the workplanes (G17,G18,G19) or can change the fixed tool setting angle.

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Orientation movements with axis limits

MD21180 $MC_ROT_AX_SWL_CHECK_MODE(check software limits for orientation axes)

Calculate rotary axis position

If the tool orientation with active 5-axis transformation is programmed kinematic independent in anNC block by means of a Euler-, RPY-angle or direction vector, it is necessary to calculate the rotaryaxis positions that produce the desired orientation.

This calculation has no unique result and 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 anymultiple of 360 degrees.

The control system chooses the solution which represents the shortest distance from the currentstarting 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, byapproaching 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 bymultiples 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 thecalculated end positions:

A generic 5-axis transformation of type 24, 40 56 or 72 must be active.The axis must be referenced.The axis must not be a modulo rotary axis (MD30310).The following machine data may not be equal to zero:

MD21180 $MC_ROT_AX_SWL_CHECK_MODE (check software limitsfor orientation axes)

The following machine data specifies the conditions under which the rotary axis positions may bemodified: MD21180 $MC_ROT_AX_SWL_CHECK_MODE

0: No modification permitted (default, equivalent to previous behaviour).

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, conicalinterpolation, etc.) was active originally.

Example for the modification of rotary axis motionThe machine is of transformation type 40 with a AC-swivel rotary table kinematic.The first rotary axis is parallel to X (A-axis) and has a traversing range from 10 to+120°.The second rotary axis is a modulo axis parallel to Z (C-axis).

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To allow modification at any time, following machine data has the value 2:MD21180 $MC_ROT_AX_SWL_CHECK_MODE = 2(check software limits for orientation axes)

N10 X0 Y0 Z0 A0 C0N20 TRAORI ; basic orientation 5-axis transformation

N30 A-1 C10 ; Rotary axis positions A-1 and C10N40 A3=-1 C3=1 ORIWKS ; large circle interpolation in WCSN50 M30

At the start of block N30 in the example program, the machine is positioned at rotary axis positions A-1 C10. The programmed end orientation can be achieved with either of the axis positions A-45 C0(1st solution) or A45 C180 (2nd solution).

The first solution is selected initially, because it is nearest to the starting orientation and, unlike thesecond solution, can be achieved using large circle interpolation (ORIVECT). However, this positioncannot be reached because of the axis limits of the A axis.

The second solution is therefore used instead, i.e. the end position is A45 C180. The end orientationis achieved by axis interpolation. The programmed orientation path cannot be followed.

Settings for specification of the rotary axes

MD30310 $MA_ROT_IS_MODULO (Axis specific modulo conversion)

1: A modulo conversion is performed on the setpoints for the rotary axes. The software limit switchesand work area limitations are inactive. The traversing range is therefore unlimited

0: No modulo conversion

MD30320 $MA_DISPLAY_MODULO (Axis specific modulo pos. display)1 In case of a positive direction of rotation, the control resets the position display internally to 0.0000degrees after one full revolution of the specified axis. The display range is always positive and liesbetween 0 and 359.999 degrees.

0: Absolute position display is active Rotary axes positions are displayed as absolute positions (endless mode). E.g. position display +720degrees after two revolutions of the specified axis.

MD30330 $MA_MODULO_RANGE: (Axis specific)Defines the size of Modulo range (max. range of specified rot. Axis).

MD30340 $MA_MODULO_RANGE_START: (Axis specific)Defines the start position of the modulo rangeStart at 0 degrees = modulo range 360 = 360 degreeStart at 180 degrees = modulo range 180 = 540 degreeStart at 180 degrees = modulo range 180 = 180 degree

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Settings for work offsets with active 5-axis transformation

MD10602 $MN_FRAME_GEOAX_CHANGE_MODE (Frames when changing geometry axes)

With this machine data it is possible to set the reset behaviour of the current work offset upon activa-tion of 5-axis transformation.

If it is not clear how to set this machine data then it is recommended to program a work offset (G54)and tool offset number (D1) after the TRAORI command (recommended setting =1).

Settings for MD106020= The current total frame is cancelled when geometry axes are switched over.1= The current total frame remains active when geometry axes are switched over.2= The current total frame remains active. If rotations or rotary axes translations are active

before geometry axes are switched over, then the switchover is aborted with a alarm.3= The current total frame is deleted when selecting the 5-axis transformation. In case of

programming the command GEOX() the frame is not cancelled.

Settings for rotary axes offsets with active 5-axis transformationMD 24510 $MC_TRAFO5_ROT_AX_OFFSET_1 [0..2] (Rotary axes offset 1st 5-axis trafo)MD 24610 $MC_TRAFO5_ROT_AX_OFFSET_2 [0..2] (Rotary axes offset 2nd 5-axis trafo)....

MD24510[0] $MC_TRAFO5_ROT_AX_OFFSET_1 (Rotary axis offset for 1st rotary axis)MD24510[1] $MC_TRAFO5_ROT_AX_OFFSET_1 (Rotary axis offset for 2nd rotary axis)MD24510[2] $MC_TRAFO5_ROT_AX_OFFSET_1 (Rotary axis offset for 3rd rotary axis)

This machine data is evaluated with the use of the G-code command ORIRESET and allowssetting of a rotary axis offset in degrees from MCS for the 1/2/3 rotary axis in the above machine

data.

MD24590 $MC_TRAFO5_ROT_OFFSET_FROM_FR_1 (rotary axes offset for WO)

This machine data is evaluated with the use of the G-code command ORIWKS and allows setting ofa rotary axis offset in degrees from MCS for the 1/2/3 rotary axis in a storable work offset (e.g. G54).

1: A rotary axes offset in the storable work offset is automatically accepted with active 5-axis trafo.0: A rotary axes offset in the storable work offset is not accepted with active 5-axis trafo.



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Setup example with kinematic type 72

Setup example with kinematics type 72

Swivel rotary table

TRAFO_TYPE_1 = 72 1st 5-axis transformation.

Press following softkeys to enter machine data for setup of a 5-axis transformation.

The following machine data meet the minimum requirement for setting up a 5-axis transformation

Search for MD24100.In this trafo machine

data set you can nowsetup the first5-axis transforma-tion in the channel.

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Machine data Value Description

MD24100 $MC_TRAFO_TYPE_1 =72 Kinematic type for 1st 5-axis transforma-72

rameters ($TC_CARR...) are being usedfor definition of the machine kinematic.

MD24110[0] $MC_TRAFO_AXES_IN_1MD24110[1] $MC_TRAFO_AXES_IN_1MD24110[2] $MC_TRAFO_AXES_IN_1MD24110[3] $MC_TRAFO_AXES_IN_1MD24110[4] $MC_TRAFO_AXES_IN_1

=1=2=3=5=6

Assignment of channel axes for the 1st5-axis transformation[0] = 1st channel axis (e.g. X)[1] = 2nd channel axis (e.g. Y)[2] = 3rd channel axis (e.g. Z)[3] = 5th channel axis (e.g. A)[4] = 6th channel axis (e.g. C)

MD24120[0] $MC_TRAFO_GEOAX_ASSIGN_TAB_1MD24120[1] $MC_TRAFO_GEOAX_ASSIGN_TAB_1

MD24120[2] $MC_TRAFO_GEOAX_ASSIGN_TAB_1

=1=2

=3

Assignment of geometry axes to channelaxes for the 1st 5-axis transformation[0] = First geometry axis X (G17)[1] = Second geometry axis Y (G17)

[2] = Third geometry axis Z (G17)

MD24130 $MC_TRAFO_INCLUDES_TOOL_1 =1 Tool handling with 1st 5-axis trafo

MD24520[0] $MC_TRAFO5_ROT_SIGN_IS_PLUS_1MD24520[0] $MC_TRAFO5_ROT_SIGN_IS_PLUS_1

=1=1

Sign of 1st rotary axis is plus (e.g. A)Sign of 2nd rotary axis is plus (e.g. C)

MD24574[0] $MC_TRAFO5_BASE_ORIENT_1MD24574[1] $MC_TRAFO5_BASE_ORIENT_1MD24574[2] $MC_TRAFO5_BASE_ORIENT_1

=0=0=1

Basic tool orientation vector (e.g. G17)[0] = First geometry axis X[1] = Second geometry axis Y[2] = Third geometry axis Z

MD24580 $MC_TRAFO5_TOOL_VECTOR_1 =1 Direction of orientation tool vector in Z

MD24582 $MC_TRAFO5_TCARR_NO_1 =1 Assignment of 1st orientable tool carrierdata (e.g. TCARR=1) to 1st 5-axis trafo.

MD21180 $MC_ROT_AX_SWL_CHECK_MODE =2 Check software limits for orientation axes

MD24590 $MC_TRAFO5_ROT_OFFSET_FROM_FR_1 =1 Allow rotary axes offset in WO

MD10602 $MN_FRAME_GEOAX_CHANGE_MODE =1 Total frame remains active after TRAORI

Softkey.

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Only the definition of thekinematics type (Swiveltable), Offset vectorsI2,I3,I4 and Rotary axisvectors V1,V2 areevaluated for the 5-axistrafo with type 72

The Kinematic of the rotary swivel table can be set up through the input mask of the swivel datarecord (e.g. TCARR=1). Press the following softkeys to open the swivel data record:

Front view in +Y direction of the machine

Front view in +X direction of the machine

MCSX0 Y0 Z0

I2z=150

I2x=250

V1

Rotary axis 1 (A)

Rotary axis 2 (C)

C+

V2

X+

Z+

I4x=-(I2x+I3x)

A+Rotary axis 1 (A)

Rotary axis 2 (C)

I2y=200

I3z=-150.02

I4z=-(I2z+I3z)I4y=-(I2y+I3y)

I3y=-0.01

MCSX0 Y0 Z0

A+

Y+

Z+

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Example of a swivel data record with TCARR-variables

P

$TC_CARR1[1]=0 ;Offset vector I1 (X)$TC_CARR2[1]=0 ;Offset vector I1 (Y)

$TC_CARR3[1]=0 ;Offset vector I1 (Z)$TC_CARR4[1]=250 ;Offset vector I2 (X)$TC_CARR5[1]=200 ;Offset vector I2 (Y)$TC_CARR6[1]=150 ;Offset vector I2 (Z)$TC_CARR7[1]=-1 ;Rotary axis vector V1 (X)$TC_CARR8[1]=0 ;Rotary axis vector V1 (Y)$TC_CARR9[1]=0 ;Rotary axis vector V1 (Z)$TC_CARR10[1]=0 ;Rotary axis vector V2 (X)$TC_CARR11[1]=0 ;Rotary axis vector V2 (Y)$TC_CARR12[1]=-1 ;Rotary axis vector V2 (Z)$TC_CARR13[1]=0$TC_CARR14[1]=0$TC_CARR15[1]=0 ;Offset vector I3 (X)$TC_CARR16[1]=-0.01 ;Offset vector I3 (Y)$TC_CARR17[1]=-150.02 ;Offset vector I3 (Z)$TC_CARR18[1]=-250 ;Offset vector I4 (X)$TC_CARR19[1]=-199.99 ;Offset vector I4 (Y)$TC_CARR20[1]=0.02 ;Offset vector I4 (Z)$TC_CARR23[1]="P" ;Kinematic type$TC_CARR24[1]=0$TC_CARR25[1]=0$TC_CARR26[1]=0$TC_CARR27[1]=0

$TC_CARR28[1]=0$TC_CARR29[1]=0$TC_CARR30[1]=-100 ;1.Rotary axis min. range (only used by CYCLE800)$TC_CARR31[1]=0 ;2.Rotary axis min. range (only used by CYCLE800)$TC_CARR32[1]=100 ;1.Rotary axis max. range (only used by CYCLE800)$TC_CARR33[1]=360 ;2.Rotary axis max. range (only used by CYCLE800)$TC_CARR34[1]="TABLE" ;Name of swivel data record (only used by CYCLE800)$TC_CARR35[1]="A" ;Rotary axis 1 identifier (only used by CYCLE800)$TC_CARR36[1]="C" ;Rotary axis 2 identifier (only used by CYCLE800)$TC_CARR37[1]=415018005 ;Display variants swivel mode (only used by CYCLE800)$TC_CARR38[1]=200 ;Retract position X (only used by CYCLE800)$TC_CARR39[1]=200 ;Retract position Y (only used by CYCLE800)

$TC_CARR40[1]=300 ;Retract position Z (only used by CYCLE800)M30



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