Siemens SINUMERIK 840D sl Function Manual page 643

①
SS: MD62603 = 1, gantry (3 linear axes, rectangular)
②
CC: MD62603 = 2, SCARA (1 linear axis, 2 rotary axes (in parallel))
③
CS: MD62603 = 6, SCARA (2 linear axes, 1 rotary axis (spin axis))
④
NR: MD62603 = 3, articulated arm (3 rotary axes (2 axes in parallel))
⑤
SC: MD62603 = 4, SCARA (2 linear axes, 1 rotary axis (swivel axis))
⑥
RR: MD62603 = 5, articulated arm (1 linear axis, 2 rotary axes (vertical))
⑦
NN: MD62603 = 7, articulated arm (3 rotary axes)
Figure 17-4 Overview of basic axis configuration
Basic axis lengths A and B
The basic axis lengths A and B are specified with machine data:
● MD62607 $MC_TRAFO6_MAIN_LENGTH_AB (basic axis lengths A and B, n = 0...1)
As Fig. "Overview of basic axis configurations" illustrates, these are specially defined for each
type of basic axis.
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
TE4: Handling transformation package - 840D sl only
17.4 Configuration of a kinematic transformation
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