Siemens sinumerik 840D sl Function Manual page 674

2.4.2 4-axis kinematics
4-axis kinematics usually imply 3 translational degrees of freedom and one degree of
freedom for orientation.
Restrictions
The following restrictions apply to 4-axis kinematics:
The frame T_FL_WP is subject to the following condition:
• MD62611 $MC_TRAFO6_TFLWP_RPY = [ 0.0, 90.0, 0.0 ] (frame between wrist point and
• X flange and X tool must be parallel to the 4th axis.
• Two successive basic axes must be parallel or orthogonal.
• The 4th axis must only be mounted in a parallel or orthogonal way to the last basic axis.
Configuration
The procedure for configuring a 4-axis kinematic is as follows:
1. Enter "Standard" kinematic category in the machine data:
2. Set the number of axes for transformation in the 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 (no hand):
6. Whether axis 4 runs parallel/anti-parallel to the last rotary basic axis is entered into the
7. Enter the axis types for the transformation in machine data:
8. Compare the directions of rotation of axes with the directions defined in the handling
9. Enter the mechanical zero offset in the machine data:
Special functions: Handling Transformation Package (TE4)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0
flange (rotation component))
MD62600 $MC_TRAFO6_KINCLASS (kinematic category)
MD62605 $MC_TRAFO6_NUM_AXES=4 (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)
machine data:
MD62606 $MC_TRAFO6_A4PAR (axis 4 is parallel/anti-parallel to last basic axis)
MD62601 $MC_TRAFO6_AXES_TYPE (axis type for transformation)
transformation package and correct in the machine data:
MD62618 $MC_TRAFO6_AXES_DIR (matching of physical and mathematical directions
of rotation)
Detailed description
2.4 Descriptions of kinematics
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