Siemens sinumerik 840D sl Function Manual page 666

MD62632
The acceleration rates for individual directions of orientation for axis traversal with G00 can
be preset in machine data:
MD62632 $MC_TRAFO6_ACCORI[i] (orientation angle acceleration rates [no.]: 0...2)
Index i = 0 : A bracket
Index i = 1 : B bracket
Index i = 2 : C angle
2.4 Descriptions of kinematics
The following descriptions of kinematics for transformations involving 2 to 5 axes explain the
general configuring procedure first before describing how the machine data need to be
configured, using a configuring example for each kinematic type. These examples do not
include all possible lengths and offsets. The direction data refer to the positive directions of
traversal and rotation for the transformation. The axis positions correspond to their zero
position for the relevant transformation.
2.4.1 3-axis kinematics
3-axis kinematics normally possess 3 translational degrees of freedom, but do not have a
degree of freedom for orientation. In other words, they only include basic axes.
Configuration
The procedure for configuring a 3-axis kinematic is as follows:
1. Enter "Standard" kinematic category in machine data:
2. Set the number of axes for transformation in machine data:
3. Compare the basic axes with the basic axes contained in the handling transformation
4. If the axis sequence is not the same as the normal axis sequence, it must be corrected in
5. As identifier for the wrist axes, the following machine data must be set to 1 (no hand):
6. Enter the axis types for the transformation in machine data:
Special functions: Handling Transformation Package (TE4)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0
MD62600 $MC_TRAFO6_KINCLASS (kinematic category)
MD62605 $MC_TRAFO6_NUM_AXES = 3 (number of transformed axes)
package. → Enter the basic axis identifier in machine data:
MD62603 $MC_TRAFO6_MAIN_AXES (basic axis identifier)
machine data:
MD62620 $MC_TRAFO6_AXIS_SEQ (rearrangement of axes)
MD62604 $MC_TRAFO6_WRIST_AXES = 1 (wrist axis identifier)
MD62601 $MC_TRAFO6_AXES_TYPE (axis type for transformation)
Detailed description
2.4 Descriptions of kinematics
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