Siemens SINUMERIK 840D sl Function Manual page 662

TE4: Handling transformation package - 840D sl only
17.5 Descriptions of kinematics
11.Define frame T_IRO_RO and enter the offset in the machine data:
MD62612 $MC_TRAFO6_TIRORO_POS (frame between base center point and internal
system (position component))
Enter the rotation in the machine data:
MD62613 $MC_TRAFO6_TIRORO_RPY (frame between base center point and internal
system (rotation component))
12.Specification of frame T_X3_P3 to attach wrist axis. For this purpose, the p3_q3_r3
coordinate system must be regarded as the initial system. The offset is entered in the
machine data:
MD62608 $MC_TRAFO6_TX3P3_POS (attachment of wrist axis (position component))
The rotation is entered in the machine data:
MD62609 $MC_TRAFO6_TX3P3_RPY (attachment of wrist axis (rotation component))
13.Determine the flange coordinate system. For this purpose, the wrist point coordinate system
must be regarded as the initial system. The offset is entered in the machine data:
MD62610 $MC_TRAFO6_TFLWP_POS (frame between wrist point and flange (position
component))
The rotation is entered in the machine data:
MD62611 $MC_TRAFO6_TFLWP_RPY (frame between wrist point and flange (rotation
component))
SCARA kinematics
4-axis CC kinematics
①
②
③
④
⑤
Figure 17-18 4-axis CC kinematics
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is entered.
MD62612 $MC_TRAFO6_TIRORO_POS[2]
MD62607 $MC_TRAFO6_MAIN_LENGTH_AB[1]
MD62608 $MC_TRAFO6_TX3P3_POS[0]
MD62608 $MC_TRAFO6_TX3P3_POS[1]
MD62610 $MC_TRAFO6_TFLWP_POS[0]
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions