Siemens SINUMERIK 840D sl Function Manual page 556

TE4: Transformation package handling
13.5 Descriptions of kinematics
10.Define frame T_IRO_RO and enter the offset in machine data:
MD62612 $MC_TRAFO6_TIRORO_POS (frame between base center point and internal
system (position component))
Enter the rotation in machine data:
MD62613 $MC_TRAFO6_TIRORO_RPY (frame between base center point and internal
system (rotation component))
11.Determine the flange coordinate system. For this purpose, the p3_q3_r3 coordinate
system must be regarded as the initial system. The offset is entered in machine data:
MD62610 $MC_TRAFO6_TFLWP_POS (frame between wrist point and flange (position
component))
The rotation is entered in machine data:
MD62611 $MC_TRAFO6_TFLWP_RPY (frame between wrist point and flange (rotation
component))
SCARA kinematics
SCARA kinematics are characterized by the fact that they possess both translational and
rotary axes. The basic axes are divided into 3 categories depending on how they are mutually
positioned.
• CC types
• CS types
• SC types (cf. Fig. "Overview of basic axis configurations")
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Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions