Flange Coordinate System - Siemens SINUMERIK 840D sl Programming Manual

3.3

Flange coordinate system

3.3.1 Flange coordinate system
In the default setting, the orientation of the flange coordinate system is aligned in N62911
$MC_ROBX_TFLWP_RPY[0-2].
The offset between the manual axis and the flange is set using machine data
$MC_ROBX_TFLWP_POS[0-2].
Figure 3-3
SINUMERIK Run MyRobot /Direct Control
Programming Manual, 12/2018, A5E45237742B AB
X
FL
Y
HP
Z Z
HP FL
X
HP
Flange coordinate system
3.3 Flange coordinate system
Y
FL
Z
FL
Coordinate systems
X
FL
Y
FL
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