Siemens sinumerik 840D sl Function Manual page 658

These data are special types of frame which describe the relative positions of the coordinate
systems in the hand. For this purpose, the machine data corresponds to certain frame
components (see Subsection "Definition of positions and orientations using frames"):
• MD62614 $MC_TRAFO6_DHPAR4_5A dem ..._POS[0] (x component)
• MD62615 $MC_TRAFO6_DHPAR4_5D dem ..._POS[2] (z component)
• MD62616 $MC_TRAFO6_DHPAR4_5ALPHA dem ..._RPY[2] (C angle)
Central hand (CH)
On a central hand, all wrist axes intersect at one point. All parameters must be set as shown
in Table "Configuring data for a central hand".
Figure 2-6 Central hand
Table 2-1
Machine data
MD62604 $MC_TRAFO6_WRIST_AXES
MD62614 $MC_TRAFO6_DHPAR4_5A
MD62615 $MC_TRAFO6_DHPAR4_5D
MD62616 $MC_TRAFO6_DHPAR4_5ALPHA
Beveled hand with elbow (BHE)
The beveled hand with elbow differs from the central hand in two respects, i.e. the axes do
not intersect nor are they mutually perpendicular. Parameters a
this type of hand, as shown in Table "Configuring data for a central hand".
Special functions: Handling Transformation Package (TE4)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0
The other components of the frame are then zero.
Configuring data for a central hand
2.3 Configuration of a kinematic transformation
Value
2
[0.0, 0.0]
[0.0, 0.0]
[-90.0, 90.0]
, d , and a
4 5
Detailed description
are available for
4
17