Siemens SINUMERIK 840D sl Function Manual page 546

Special functions

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TE4: Transformation package handling

13.4 Configuration of a kinematic transformation

The handling transformation package contains the following basic axis kinematics:

SS: Gantry (3 linear axes, rectangular)

CC: SCARA (1 linear axis, 2 rotary axes (in parallel))

SC: SCARA (2 linear axes, 1 rotary axis (swivel axis))

CS: SCARA (2 linear axes, 1 rotary axis (axis of rotation))

NR: Articulated arm (3 rotary axes (2 axes in parallel))

NN: Articulated arm (3 rotary axes)

RR: Articulated arm (1 linear axis, 2 rotary axes (perpendicular))

Overview of basic axis configuration

Function Manual, 09/2011, 6FC5397-2BP40-2BA0

Special Functions

Sinumerik 840de sl