Siemens SINUMERIK 840D sl Function Manual page 647

Figure 17-8
Frame: T_IRO_RO
Frame T_IRO_RO provides the link between the base center point coordinate system (RO)
defined by the user and the internal robot coordinate system (IRO). The internal robot
coordinate system is predefined in the handling transformation package for each basic axis
type and included in the kinematic diagrams for the basic axis arrangements. The base center
point system is in the Cartesian zero point of the machine, corresponding to the basic
coordinate system. If no FRAMES are programmed, the basic coordinate system equals the
workpiece coordinate system.
Note
For more detailed information about FRAMES, please see:
References:
Programming Manual Fundamentals
Frame T_IRO_RO is not subject to any restrictions for 5-axis kinematics.
The following restrictions apply in relation to 4-axis kinematics:
● The first rotary axis must always be parallel/anti-parallel to one of the coordinate axes of
the base center point coordinate system (RO).
● No further restrictions apply to type SS basic axes.
● In the case of type CC, CS or SC basic axes, no further restrictions apply provided that the
4th axis is parallel to the last rotary basic axis.
● With respect to all other basic axes, and basic axes of type CC, CS or SC if the 4th axis is
perpendicular to the last rotary basic axis, the Z axis of RO must be parallel to the Z axis
of IRO.
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Link frames
TE4: Handling transformation package - 840D sl only
17.4 Configuration of a kinematic transformation
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