5-Axis Kinematics - Siemens SINUMERIK 840D sl Function Manual

13.5.3

5-axis kinematics

5-axis kinematics usually imply 3 degrees of freedom for translation and 2 for orientation.
Restrictions
The following restrictions apply to 5-axis kinematics:
1. There are restrictions for the flange coordinate system because the X flange axis must
intersect the 5th axis, nevertheless, it must not be parallel to it.
2. The frame T_FL_WP is subject to the following condition as far as 5-axis articulated-arm
kinematics are concerned:
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3. There are restrictions for the tool as far as 5-axis articulated-arm kinematics are
concerned:
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4. There are restrictions for the tool as far as 5-axis Scara kinematics are concerned:
-
5. Two successive basic axes must be parallel or orthogonal.
6. The 4th axis must only be mounted in a parallel or orthogonal way to the last basic axis.
Configuration
The procedure for configuring a 5-axis kinematic is as follows:
1. Enter "Standard" kinematic category in machine data:
MD62600 $MC_TRAFO6_KINCLASS (kinematic category)
2. Set the number of axes for transformation in the machine data:
MD62605 $MC_TRAFO6_NUM_AXES = 5 (number of transformed axes)
3. Compare the basic axes with the basic axes contained in the handling transformation
package.
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4. If the axis sequence is not the same as the normal axis sequence, it must be corrected in
machine data:
MD62620 $MC_TRAFO6_AXIS_SEQ (rearrangement of axes)
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
MD62610 $MC_TRAFO6_TFLWP_POS = [0.0, 0.0, Z] (frame between wrist point and
flange (position component))
MD62611 $MC_TRAFO6_TFLWP_RPY = [A, 0.0, 0.0] (frame between wrist point and
flange (rotation component))
4. Axis parallel to the 3rd axis: 2-dimensional tool is possible [X, 0.0, Z]
4. Axis perpendicular to the 3rd axis: Only 1-dimensional tool is possible [X, 0.0, 0.0]
4. Axis perpendicular to the 3rd axis: 1-dimensional tool is possible [X, 0.0, 0.0]
Enter the basic axis identifier in machine data:
MD62603 $MC_TRAFO6_MAIN_AXES (basic axis identifier)
TE4: Transformation package handling
13.5 Descriptions of kinematics
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