Siemens SINUMERIK 840D sl Function Manual page 644

TE4: Handling transformation package - 840D sl only
17.4 Configuration of a kinematic transformation
Position of the 4th axis
Whether the 4th axis is mounted parallel, anti-parallel or perpendicular to the last rotary basic
axis is specified in machine data:
● MD62606 $MC_TRAFO6_A4PAR (axis 4 is parallel/anti-parallel to last basic axis)
Description of the wrist axis
Frame to attach the wrist axis
Frame T_X3_P3 links the last coordinate system of the basic axes with the first wrist axis
coordinate system.
● MD62608 $MC_TRAFO6_TX3P3_POS (attachment of wrist axis (position component], n
= 0...2)
● MD62609 $MC_TRAFO6_TX3P3_RPY (attachment of wrist axis (rotation component), n =
0...2)
Frame between wrist point and flange coordinate system
Frame T_FL_WP links the last hand wrist axis coordinate system with the flange coordinate
system.
● MD62610 $MC_TRAFO6_TFLWP_POS (frame between wrist point and flange coordinate
system (position component), n = 0...2)
● MD62611 $MC_TRAFO6_TFLWP_RPY (frame between wrist point and flange coordinate
system (rotation component), n = 0...2)
This data is explained in more detail in the following sections.
Description of the wrist axis type
These parameters describe the wrist axis type.
● MD62604 $MC_TRAFO6_WRIST_AXES (wrist axis identifier)
The term wrist axes generally refers to axes four to six.
Wrist axes included in every transformation
The fourth axis and all further axes are generally referred to as "wrist axes". The handling
transformation package can only identify wrist axes with rotary axes. The wrist axis identifier
for three-axis wrists is entered in machine data:
● MD62604 $MC_TRAFO6_WRIST_AXES (wrist axis identifier)
When there are fewer than three wrist axes, the identifier for the inclined wrist axis or a central
wrist axis is entered in the machine data:
● MD62604 $MC_TRAFO6_WRIST_AXES (wrist axis identifier)
The current software only supports the central and inclined wrist axis types.
644
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions