Descriptions Of Kinematics; 3-Axis Kinematics - Siemens SINUMERIK 840D sl Function Manual

Orientation angle acceleration rates
The acceleration rates for individual directions of orientation for axis traversal with G00 can be
preset in machine data:
● MD62632 $MC_TRAFO6_ACCORI[i] (orientation angle acceleration rates [no.]: 0...2)
– Index i = 0 : A angle
– Index i = 1 : B angle
– Index i = 2 : C angle
Reduction factor for the velocity controller
A reduction factor for the velocity controller in the JOG mode can be specified with the machine
data:
● MD62633 $MC_ROBX_DYN_LIM_REDUCE (reduction factor for the velocity controller)
Time constant for the velocity controller
A time constant for the PT1 filter of the speed controller can be specified with the machine
data:
● MD62634 $MC_ROBX_VEL_FILTER_TIME (time constant for the velocity controller)
17.5

Descriptions of kinematics

The following descriptions of kinematics for transformations involving 2 to 5 axes explain the
general configuring procedure first before describing how the machine data need to be
configured, using a configuring example for each kinematic type. These examples do not
include all possible lengths and offsets. The direction data refer to the positive directions of
traversal and rotation for the transformation. The axis positions correspond to their zero
position for the relevant transformation.
17.5.1

3-axis kinematics

3-axis kinematics normally possess three translational degrees of freedom, but do not have a
rotational degree of freedom for orientation. As a consequence, 3-axis kinematics only have
basic axes.
Configuration
The procedure for configuring a 3-axis kinematic is as follows:
1. Enter "Standard" kinematic category in machine data:
MD62600 $MC_TRAFO6_KINCLASS (kinematic category)
2. Set the number of axes for transformation in machine data:
MD62605 $MC_TRAFO6_NUM_AXES = 3 (number of transformed axes)
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
TE4: Handling transformation package - 840D sl only
17.5 Descriptions of kinematics
653