Siemens SINUMERIK 840D sl Function Manual page 570

TE4: Transformation package handling
13.5 Descriptions of kinematics
5. ID specification for the wrist axes. If axis 4 and 5 intersect, a central hand (ZEH) is
present. In all other cases, the ID for beveled hand with elbow (BHE) must be entered in
the machine data:
MD62604 $MC_TRAFO6_WRIST_AXES (wrist axis identifier)
6. Whether axis 4 runs parallel/anti-parallel to the last rotary basic axis must be entered into
the machine data:
MD62606 $MC_TRAFO6_A4PAR (axis 4 is parallel/anti-parallel to last basic axis)
7. Enter the axis types for the transformation in machine data:
MD62601 $MC_TRAFO6_AXES_TYPE (axis type for transformation)
8. Compare the directions of rotation of axes with the directions defined in the handling
transformation package and correct in machine data:
MD62618 $MC_TRAFO6_AXES_DIR (matching of physical and mathematical directions
of rotation)
9. Enter the mechanical zero offset in the machine data:
MD62617 $MC_TRAFO6_MAMES (offset between mathematical and mechanical zero
points)
10.Enter the basic axis lengths in machine data:
MD62607 $MC_TRAFO6_MAIN_LENGTH_AB (basic axis lengths A and B)
11.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))
Define frame T_IRO_RO and enter the rotation in machine data:
MD62613 $MC_TRAFO6_TIRORO_RPY (frame between base center point and internal
system (rotation component))
12.Specification of frame T_X3_P3 to attach hand. The offset is entered in machine data:
MD62608 $MC_TRAFO6_TX3P3_POS (attachment of hand (position component))
The rotation is entered in the machine data:
MD62609 $MC_TRAFO6_TX3P3_RPY (attachment of hand (rotation component))
13.Specification of wrist axes parameters. For this purpose, only the parameters for axis 4
must be entered in the machine data:
MD62614 $MC_TRAFO6_DHPAR4_5A[0] (parameter A for configuring the hand)
MD62616 $MC_TRAFO6_DHPAR4_5ALPHA[0] (parameter A for configuring the hand)
All other parameters must be set to 0.0.
14.Determine the flange coordinate system. For this purpose, the hand-point coordinate
system must be regard as the initial system. The offset is entered in the machine data:
MD62610 $MC_TRAFO6_TFLWP_POS (frame between wrist point and flange (position
component))
The rotation is entered in the machine data:
MD62611 $MC_TRAFO6_TFLWP_RPY (frame between wrist point and flange (rotation
component))
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Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions