Siemens sinumerik 840D sl Function Manual page 707

Examples
4.2 Starting up a kinematic transformation
9. Enter any changes to the axis sequence in the machine data:
10. Enter the data which define the hand:
11. Enter the geometry parameters:
12. Enter the position in relation to the calibration point in the machine data:
13. Enter the Cartesian velocities and acceleration rates.
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MD62620 $MC_TRAFO6_AXIS_SEQ (rearrangement of axes)
– Wrist axis identifier in the machine data:
MD62604 $MC_TRAFO6_WRIST_AXES (wrist axis identifier)
– Parameters for hand in the machine data:
MD62614 $MC_TRAFO6_DHPAR4_5A (parameter A for configuring the hand)
MD62615 $MC_TRAFO6_DHPAR4_5D (parameter D for configuring the hand)
MD62616 $MC_TRAFO6_DHPAR4_5ALPHA (parameter ALPHA for configuring the
hand)
– MD62606 $MC_TRAFO6_A4PAR (axis 4 is parallel/anti-parallel to last basic axis)
– Frame T_IRO_RO
– Frame T_X3_P3
– Frame T_FL_WP
MD62617 $MC_TRAFO6_MAMES (offset between mathematical and mechanical zero
points)
Special functions: Handling Transformation Package (TE4)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0