Siemens sinumerik 840D sl Function Manual page 646

Brief description
1.1 Brief description
Functionality
The handling transformation package has been designed for use on manipulators and
robots. The package is a type of modular system, which enables the customer to configure
the transformation for his machine by setting machine data (provided that the relevant
kinematics are included in the handling transformation package).
Structure of Chapter 2
Chapter 2 (Detailed Description) deals with the following topics:
• Section 2.1 describes the environment for kinematic transformation.
• Section 2.2. provides an explanation of basic terms.
• Section 2.3 explains the machine data required to configure transformations.
• Section 2.4 uses configuring examples to illustrate the most commonly used 2-axis to 5-
• Sections 2.5 to 2.9 deal with the subject of programming, describing orientation
Abbreviations
FL
HP
IRO
p
3
RO
WS
WZ
x
3
Special functions: Handling Transformation Package (TE4)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0
axis kinematics that can be configured with the handling transformation package.
programming, the entry of tool parameters and transformation calls.
, q , r
3 3
, y , z
3 3
Flange coordinate system
Wrist point coordinate system
Internal robot coordinate system
Coordinates of the last basic axis
Robot or base center point coordinate system
Workpiece coordinate system
Tool coordinate system
Coordinates of the first wrist axis
1
5