Siemens sinumerik 840D sl Function Manual page 667

Detailed description
2.4 Descriptions of kinematics
7. Compare the directions of rotation of axes with the directions defined in the handling
8. Enter the mechanical zero offset in machine data:
9. Enter the basic axis lengths in machine data:
10. Define frame T_IRO_RO and enter the offset in machine data:
11. Determine the flange coordinate system. For this purpose, the p3_q3_r3 coordinate
SCARA kinematics
SCARA kinematics are characterized by the fact that they possess both translational and
rotary axes. The basic axes are divided into 3 categories depending on how they are
mutually positioned.
• CC types
• CS types
• SC types (cf. Fig. "Overview of basic axis configurations")
26
transformation package and correct in machine data:
MD62618 $MC_TRAFO6_AXES_DIR (matching of physical and mathematical directions
of rotation)
MD62617 $MC_TRAFO6_MAMES (offset between mathematical and mechanical zero
points)
MD62607 $MC_TRAFO6_MAIN_LENGTH_AB (basic axis lengths A and B)
MD62612 $MC_TRAFO6_TIRORO_POS (frame between base center point and internal
system (position component))
Enter the rotation in machine data:
MD62613 $MC_TRAFO6_TIRORO_RPY (frame between base center point and internal
system (rotation component))
system must be regarded as the initial system. The offset is entered in machine data:
MD62610 $MC_TRAFO6_TFLWP_POS (frame between wrist point and flange (position
component))
The rotation is entered in machine data:
MD62611 $MC_TRAFO6_TFLWP_RPY (frame between wrist point and flange (rotation
component))
Special functions: Handling Transformation Package (TE4)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0