Siemens sinumerik 840D sl Function Manual page 687

Detailed description
2.4 Descriptions of kinematics
Special 3-axis SC kinematic
The special kinematic has 2 Cartesian degrees of freedom and one degree of freedom for
orientation. The identifier for this kinematic is:
MD62602 $MC_TRAFO6_SPECIAL_KIN = 4 (special kinematic type)
Figure 2-25 Special 3-axis SC kinematic
Table 2-17
Machine data
MD62600 $MC_TRAFO6_KINCLASS
MD62602 $MC_TRAFO6_SPECIAL_KIN
MD62605 $MC_TRAFO6_NUM_AXES
MD62603 $MC_TRAFO6_MAIN_AXES
MD62604 $MC_TRAFO6_WRIST_AXES
MD62601 $MC_TRAFO6_AXES_TYPE
MD62620 $MC_TRAFO6_AXIS_SEQ
MD62618 $MC_TRAFO6_AXES_DIR
MD62617 $MC_TRAFO6_MAMES
MD62607 $MC_TRAFO6_MAIN_LENGTH_AB
MD62612 $MC_TRAFO6_TIRORO_POS
MD62613 $MC_TRAFO6_TIRORO_RPY
MD62608 $MC_TRAFO6_TX3P3_POS
MD62609 $MC_TRAFO6_TX3P3_RPY
46
Configuring data for a special 3-axis SC kinematic
Value
2
4
3
2
1
[1, 3, 3, ...]
[1, 2, 3, 4, 5, 6]
[1, 1, 1, 1, 1, 1]
[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
[0.0, 0.0]
[0.0, 0.0, 400.0]
[0.0, 0.0, 0.0]
[400.0, 0.0, 0.0]
[0.0, 0.0, -90.0]
Special functions: Handling Transformation Package (TE4)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0