Siemens SINUMERIK 840D sl Function Manual page 684
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TE4: Handling transformation package - 840D sl only
17.12 Startup
Parameterizing transformation
1. Enter the transformation type into the machine data:
– MD24100 $MC_TRAFO_TYPE_1 = 4100 (definition of transformation 1 in the channel)
2. Enter the assignment of the channel axes involved in the transformation in the machine
data (axis numbers, starting at 1):
– MD24110 $MC_TRAFO_AXES_IN_1[0 ... 5] (axis assignment for transformation)
3. Enter the geometry axes corresponding to the Cartesian degrees of freedom of the machine
in the machine data:
– MD24120 $MC_TRAFO_GEOAX_ASSIGN_TAB_1[0 ... 2] (assignment between
4. Enter the kinematic identifier in the machine data:
– MD62600 $MC_TRAFO6_KINCLASS (kinematic category)
5. Enter the identifier for special kinematics, if there are any, in machine data:
– MD62602 $MC_TRAFO6_SPECIAL_KIN (special kinematic type)
6. Enter the number of axes in the machine data:
– MD62605 $MC_TRAFO6_NUM_AXES (number of transformed axes)
7. If the travel direction of the involved axes is opposed to the transformation definition, then
change the factory setting in the machine data:
– MD62618 $MC_TRAFO6_AXES_DIR[ ] (matching of physical and mathematical
8. Enter the data which define the basic axes:
– MD62603 $MC_TRAFO6_MAIN_AXES (basic axis identifier)
– MD62607 $MC_TRAFO6_MAIN_LENGTH_AB (basic axis lengths A and B)
9. Enter any changes to the axis sequence in the machine data:
– MD62620 $MC_TRAFO6_AXIS_SEQ (rearrangement of axes)
10.Enter the data which define the wrist axis:
– MD62604 $MC_TRAFO6_WRIST_AXES (wrist axis identifier)
– MD62614 $MC_TRAFO6_DHPAR4_5A (parameter A for configuring the wrist axis)
– MD62615 $MC_TRAFO6_DHPAR4_5D (parameter D for configuring the wrist axis)
– MD62616 $MC_TRAFO6_DHPAR4_5ALPHA (parameter ALPHA for configuring the
– MD62606 $MC_TRAFO6_A4PAR (axis 4 is parallel/anti-parallel to last basic axis)
11.Enter the geometry parameters:
– Frame T_IRO_RO
– Frame T_X3_P3
– Frame T_FL_WP
684
geometry axis and channel axis for transformation 1)
directions of rotation)
wrist axis)
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions
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