Data Lists; Machine Data; 1General Machine Data; 2Channel­specific Machine Data - Siemens SINUMERIK 840D sl Function Manual

TE4: Transformation package handling

13.15 Data lists

13.15 Data lists
13.15.1

Machine data

13.15.1.1 General machine data
Number Identifier: $MN_
10620 EULER_ANGLE_NAME_TAB[n]
19410 TRAFO_TYPE_MASK, bit 4
13.15.1.2 Channel­specific machine data
Number Identifier: $MC_
21100 ORIENTATION_IS_EULER
21110 X_AXIS_IN_OLD_X_Z_PLANE
24100 TRAFO_TYPE_1
24110 TRAFO_AXES_IN_1
24120 TRAFO_GEOAX_ASSIGN_TAB_1
13.15.1.3 Channel-specific machine data for compile cycles
Number Identifier: $MC_
62600 TRAFO6_KINCLASS
62601 TRAFO6_AXES_TYPE
62602 TRAFO6_SPECIAL_KIN
62603 TRAFO6_MAIN_AXES
62604 TRAFO6_WRIST_AXES
62605 TRAFO6_NUM_AXES
62606 TRAFO6_A4PAR
62607 TRAFO6_MAIN_LENGTH_AB
62608 TRAFO6_TX3P3_POS
62609 TRAFO6_TX3P3_RPY
62610 TRAFO6_TFLWP_POS
62611 TRAFO6_TFLWP_RPY
62612 TRAFO6_TIRORO_POS
62613 TRAFO6_TIRORO_RPY
62614 TRAFO6_DHPAR4_5A
62615 TRAFO6_DHPAR4_5D
596
Description
Name of Euler angle
Option data for OEM transformation
Description
Angle definition for orientation programming
Coordinate system with automatic FRAME definition
Definition of transformation
Axis assignment for transformation 1
Assignment of geometry axes to channel axes
Description
Kinematic category
Axis type for transformation
Special kinematic type
Basic axis identifier
Wrist axis identifier
Number of transformed axes
Axis 4 is parallel/anti-parallel to last basic axis
Basic axis lengths A and B
Attachment of hand (position component)
Attachment of hand (rotation component)
Frame between wrist point and flange (position
component)
Frame between wrist point and flange (rotation
component)
Frame between base center point and internal system
(position component)
Frame between base center point and internal system
(rotation component)
Parameter A for configuring the hand
Parameter D for configuring the hand
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions