Siemens SINUMERIK 840D sl Function Manual page 552

TE4: Transformation package handling
13.4 Configuration of a kinematic transformation
Example 2
This example involves a SCARA kinematic transformation as illustrated in Fig.
"Rearrangement of axes (example 2)", in which the axes can be freely transposed. Kinematic
1 is directly included in the handling transformation package. It corresponds to a CC
kinematic. As regards the transposition of axes, it is irrelevant how many wrist axes are
involved in the transformation.
Figure 13-10 Rearrangement of axes 2
Changing the directions of axes
MD62618
A rotational or offset direction is preset for each axis in the handling transformation package.
This direction is not necessarily the same as the corresponding direction on the machine. The
following machine data must be set to -1 for the relevant axis if the direction is to be inverted,
or otherwise to +1:
MD62618 $MC_TRAFO6_AXES_DIR[ ] (matching of physical and mathematical directions of
rotation [axis no.]: 0...5)
Adapting the zero points of the axes
MD62617
The mathematical zero points of axes are preset in the handling transformation package.
However, the mathematical zero point does not always correspond to the mechanical zero
point (calibration point) of axes. In order for the zero point of each axis to fit one another, the
difference between the mathematical zero point and the alignment point for each axis must be
entered in the following machine data:
MD62617 $MC_TRAFO6_MAMES[ ] (offset between mathematical and mechanical zero
points [axis no.]: 0...5)
The deviation to be entered corresponds to the difference between the mechanical zero point
and the mathematically positive direction of rotation of the axis.
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Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions