Siemens sinumerik 840D sl Function Manual page 659

Detailed description
2.3 Configuration of a kinematic transformation
Figure 2-7
Table 2-2
Machine data
MD62604 $MC_TRAFO6_WRIST_AXES
MD62614 $MC_TRAFO6_DHPAR4_5A
MD62615 $MC_TRAFO6_DHPAR4_5D
MD62616 $MC_TRAFO6_DHPAR4_5ALPHA
18
Beveled hand with elbow
Configuring data for a beveled hand with elbow (5-axis
Value
6
[a4, 0.0]
[0.0, d5]
[α4, 0.0]
Special functions: Handling Transformation Package (TE4)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0