6-Axis Kinematics; Special Kinematics - Siemens SINUMERIK 840D sl Function Manual

13.5.4

6-axis kinematics

6-axis kinematics usually imply 3 degrees of freedom for translation and 3 more for
orientation. This allows for the tool direction to be manipulated freely in space. Also, the tool
can be rotated along its own axis to the machining surface or inclined with a tilting angle.
This kinematic type is supported by the software, but only for very specific solutions as the
auxiliary method for this handling transformation package. A general, comprehensive and
universally applicable software version is still not available for 6-axis kinematics.
13.5.5

Special kinematics

MD62602 $MC_TRAFO6_SPECIAL_KIN (special kinematic type)
Special kinematics are kinematics that are not directly included in the building block system of
the Handling transformation package. They are frequently missing a degree of freedom or are
characterized by mechanical links between the axes or with the tool. Set the following
machine data for these kinematics:
MD62600 $MC_TRAFO6_KINCLASS = 2 (kinematic category)
Which special kinematic is handled is specified in machine data:
MD62602 $MC_TRAFO6_SPECIAL_KIN (special kinematic type)
Special 2-axis SC kinematic
This special kinematic is characterized by the fact that the tool is always maintained in the
same orientation via a mechanical linkage. It implies two Cartesian degrees of protection. The
identifier for this kinematic is machine data:
MD62602 $MC_TARFO6_SPECIAL_KIN = 3 (special kinematic type)
Figure 13-24 Special 2-axis SC kinematic
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
TE4: Transformation package handling
13.5 Descriptions of kinematics
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