Siemens SINUMERIK 840D sl Function Manual page 548

TE4: Transformation package handling
13.4 Configuration of a kinematic transformation
Central hand (CH)
On a central hand, all wrist axes intersect at one point. All parameters must be set as shown
in Table "Configuring data for a central hand".
Figure 13-6 Central hand
Table 13-1
Machine data
MD62604 $MC_TRAFO6_WRIST_AXES
MD62614 $MC_TRAFO6_DHPAR4_5A
MD62615 $MC_TRAFO6_DHPAR4_5D
MD62616 $MC_TRAFO6_DHPAR4_5ALPHA
Beveled hand with elbow (BHE)
The beveled hand with elbow differs from the central hand in two respects, i.e. the axes do
not intersect nor are they mutually perpendicular. Parameters a
this type of hand, as shown in Table "Configuring data for a central hand".
Figure 13-7
548
Configuring data for a central hand
Beveled hand with elbow
Value
2
[0.0, 0.0]
[0.0, 0.0]
[-90.0, 90.0]
, d , and a
4 5 4
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
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Special Functions