Singular Positions And How They Are Handled - Siemens SINUMERIK 840D sl Function Manual

Figure 17-30 Orientation angle for 5-axis kinematic
The following machine data can be used to set the flange coordinate system on the user side
so that Z can be set as tool direction for 5-axis kinematics:
MD62636 $MC_TRAFO6_TFL_EXT_RPY (adaptation of the flange coordinate system)
The following machine data can be used to specify whether the tool direction should be set
according to the robotics convention (0 = default setting) or the NC convention:
MD62637 $MC_TRAFO6_TOOL_DIR (definition of the tool direction)
To provide a tool calculation function as usually available for machine tools, set the following
machine data:
MD62637 $MC_TRAFO6_TOOL_DIR = 1 (standard definition of the tool direction)
This machine data also has an effect on the rotation sequence of the virtual orientation axes.
For this purpose, the vector in the Z tool direction is first turned through angle A at the X axis
and then through angle B at the rotated Y axis. The rotation by the angle C is not possible for
5-axis kinematics because of the restricted degrees of freedom for the orientation.
Note
Additional information can be found in:
Function Manual, Special Functions, Section "Orientation axes"
and
Programming Manual, Job Planning, Section "Orientation axes".
17.7

Singular positions and how they are handled

The calculation of the machine axes to a preset position, i.e. position with orientation, is not
always clear. Depending on the machine kinematic, there may be positions with an infinite
number of solutions. These positions are called "singular".
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
TE4: Handling transformation package - 840D sl only
17.7 Singular positions and how they are handled
679