Siemens SINUMERIK 840D sl Function Manual page 547

Wrist axes included in every transformation
MD62604
The fourth axis and all further axes are generally referred to as "wrist axes". The handling
transformation package can only identify hands with rotary axes. The wrist axis identifier for
three-axis hands is entered in machine data:
MD62604 $MC_TRAFO6_WRIST_AXES (wrist axis identifier)
In the case of hands with fewer than three axes, the identifier for a beveled hand with elbow
or a central hand is entered in machine data:
MD62604 $MC_TRAFO6_WRIST_AXES (wrist axis identifier)
The current software supports only wrist axis types beveled hand with elbow or central hand.
Figure 13-5
Parameterization of wrist axes
MD62614 - MD62616
Hands are parameterized via parameter:
MD62614 $MC_TRAFO6_DHPAR4_5A (parameter A for configuring the hand, n = 0...1)
MD62615 $MC_TRAFO6_DHPAR4_5D (parameter D for configuring the hand, n = 0...1)
MD62616 $MC_TRAFO6_DHPAR4_5ALPHA (parameter ALPHA for configuring the hand, n
= 0...1)
These data are special types of frame which describe the relative positions of the coordinate
systems in the hand. For this purpose, the machine data corresponds to certain frame
components (see Subsection "Definition of positions and orientations using frames"):
• MD62614 $MC_TRAFO6_DHPAR4_5A dem ..._POS[0] (x component)
• MD62615 $MC_TRAFO6_DHPAR4_5D dem ..._POS[2] (z component)
• MD62616 $MC_TRAFO6_DHPAR4_5ALPHA dem ..._RPY[2] (C angle)
The other components of the frame are then zero.
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Overview of wrist axis configuration
TE4: Transformation package handling
13.4 Configuration of a kinematic transformation
547