Siemens sinumerik 840D sl Function Manual page 688

Machine data
MD62610 $MC_TRAFO6_TFLWP_POS
MD62611 $MC_TRAFO6_TFLWP_RPY
Special 4-axis SC kinematic
This special kinematic is characterized by the fact that axis 1 and axis 2 are mechanically
coupled. This coupling ensures that axis 2 is maintained at a constant angle when axis 1 is
swiveled. This kinematic also guarantees that axes 3 and 4 always remain perpendicular,
irrespective of the positions of axes 1 and 2. The identifier for this kinematic is:
MD62602 $MC_TRAFO6_SPECIAL_KIN = 7 (special kinematic type)
Figure 2-26 Special 4-axis SC kinematic
Special functions: Handling Transformation Package (TE4)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0
Detailed description
2.4 Descriptions of kinematics
Value
[200.0, 0.0, 0.0]
[0.0, -90.0, 180.0]
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