Siemens SINUMERIK 840D sl Function Manual page 549

Table 13-2
Machine data
MD62604 $MC_TRAFO6_WRIST_AXES
MD62614 $MC_TRAFO6_DHPAR4_5A
MD62615 $MC_TRAFO6_DHPAR4_5D
MD62616 $MC_TRAFO6_DHPAR4_5ALPHA
Figure 13-8
T_IRO_RO
Frame T_IRO_RO provides the link between the base center point coordinate system (RO)
defined by the user and the internal robot coordinate system (IRO). The internal robot
coordinate system is predefined in the handling transformation package for each basic axis
type and included in the kinematic diagrams for the basic axis arrangements. The base center
point system is in the Cartesian zero point of the machine, corresponding to the basic
coordinate system. If no FRAMES are programmed, the basic coordinate system equals the
workpiece coordinate system.
Note
For more detailed information about FRAMES, please see:
References:
/PG/ Programming Manual Fundamentals
Frame T_IRO_RO is not subject to any restrictions for 5-axis kinematics.
The following restrictions apply in relation to 4-axis kinematics:
• The first rotary axis must always be parallel/anti-parallel to one of the coordinate axes of
the base center point coordinate system (RO).
• No further restrictions apply to type SS basic axes.
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Configuring data for a beveled hand with elbow (5-axis
Link frames
TE4: Transformation package handling
13.4 Configuration of a kinematic transformation
Value
6
[a4, 0.0]
[0.0, d5]
[α4, 0.0]
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