Siemens sinumerik 840D sl Function Manual page 689

Detailed description
2.4 Descriptions of kinematics
Table 2-18
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
MD62610 $MC_TRAFO6_TFLWP_POS
MD62611 $MC_TRAFO6_TFLWP_RPY
Special 2-axis NR kinematics
This special kinematic is characterized by the fact that axis 1 and axis 2 are mechanically
coupled. Another special feature is the tool. With this kinematic, it maintains its orientation in
space irrespective of the positions of the other axes.
The identifier for this kinematic is:
MD62602 $MC_TRAFO6_SPECIAL_KIN = 5 (special kinematic type)
48
Configuring data for a special 4-axis SC kinematic
Value
2
7
4
2
1
[3, 3, 1, 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]
[100.0, 400.0]
[100.0, 0.0, 1000.0]
[0.0, 0.0, 0.0]
[300.0, 0.0, 0.0]
[0.0, 0.0, 0.0]
[0.0, 0.0, -600.0]
[0.0, 90.0, 0.0]
Special functions: Handling Transformation Package (TE4)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0