Siemens SINUMERIK 840D sl Function Manual page 650

TE4: Handling transformation package - 840D sl only
17.4 Configuration of a kinematic transformation
①
②
Figure 17-9
Example 2
This example involves a SCARA kinematic transformation as illustrated in Fig.
"Rearrangement of axes 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.
①
②
③
Figure 17-10 Rearrangement of axes 2
Changing the directions of axes
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
Offset between mathematical and mechanical zero points
650
Kinematics 1
Kinematics 2
Rearrangement of axes 1
Kinematics 1: Axis sequence 1 2 3
Kinematics 2: Axis sequence 2 1 3
Kinematics 3: Axis sequence 2 3 1
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions