Siemens SINUMERIK 840D sl Function Manual page 544

TE4: Transformation package handling
13.4 Configuration of a kinematic transformation
MD62612, MD62613
The frame T_IRO_RO links the base center point of the machine (BCS = RO) with the first
internal coordinate system (IRO) determined by the transformation.
MD62613 $MC_TRAFO6_TIRORO_RPY (frame between base center point and internal
coordinate system (rotation component), n = 0...2)
MD62612 $MC_TRAFO6_TIRORO_POS (frame between base center point and internal
coordinate system (position component), n = 0...2)
MD62603
The type of basic axis arrangement is specified in machine data:
MD62603 $MC_TRAFO6_MAIN_AXES (basic axis identifier)
The basic axes are generally the first 3 axes to be included in the transformation.
MD62607
The basic axis lengths A and B are specified with machine data:
MD62607 $MC_TRAFO6_MAIN_LENGTH_AB (basic axis lengths A and B, n = 0...1)
As Fig. "Overview of basic axis configurations" illustrates, these are specially defined for each
type of basic axis.
MD62606
Whether the 4th axis is mounted parallel, anti-parallel or perpendicular to the last rotary basic
axis is specified in machine data:
MD62606 $MC_TRAFO6_A4PAR (axis 4 is parallel/anti-parallel to last basic axis)
MD62608, MD62609
Frame T_X3_P3 links the last coordinate system of the basic axes with the first hand
coordinate system.
MD62608 $MC_TRAFO6_TX3P3_POS (attachment of hand (position component], n = 0...2)
MD62609 $MC_TRAFO6_TX3P3_RPY (attachment of hand (rotation component), n = 0...2)
MD62604, MD62616
These parameters describe the hand geometry.
MD62604 $MC_TRAFO6_WRIST_AXES (wrist axis identifier)
MD62616 $MC_TRAFO6_DHPAR4_5.. (Parameter ALPHA for configuring the hand, n =
0...1)
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Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions