Siemens sinumerik 840D sl Function Manual page 663

Detailed description
2.3 Configuration of a kinematic transformation
Figure 2-9 Rearrangement of axes
Example 2
This example involves a SCARA kinematic transformation as illustrated in Fig.
"Rearrangement of axes (example 2)", in which the axes can be freely transposed.
Kinematic 1 is directly included in the handling transformation package. It corresponds to a
CC kinematic. As regards the transposition of axes, it is irrelevant how many wrist axes are
involved in the transformation.
Figure 2-10 Rearrangement of axes 2
Changing the directions of axes
MD62618
A rotational or offset direction is preset for each axis in the handling transformation package.
This direction is not necessarily the same as the corresponding direction on the machine.
The following machine data must be set to -1 for the relevant axis if the direction is to be
inverted, or otherwise to +1:
MD62618 $MC_TRAFO6_AXES_DIR[ ] (matching of physical and mathematical directions of
rotation [axis no.]: 0...5)
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Special functions: Handling Transformation Package (TE4)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0