Siemens SINUMERIK 840D sl Function Manual page 648

TE4: Handling transformation package - 840D sl only
17.4 Configuration of a kinematic transformation
Frame: T_X3_P3
Frame T_X3_P3 describes the method used to attach the wrist axis to the basic axes. Frame
T_X3_P3 is used to link the coordinate system of the last basic axis (p3_q3_r3 coordinate
system) with the coordinate system of the first wrist axis (x3_y3_z3 coordinate system). The
p3_q3_r3 coordinate system is included in the kinematic diagrams for the basic axis
arrangements.
The z3 axis is always on the 4th axis.
Depending on the number of axes to be included in the transformation, frame T_X3_P3 is
subject to certain restrictions relating to the wrist and basic axes:
● For 5-axis kinematics, frame T_X3_P3 can be freely selected in the following cases:
– If the basic axes are of the SS type.
– If the basic axes are of the CC, CS or SC type, the transformation must either include
– If the basic axes are of the NR or RR type, the transformation must either include a
– If the basic axes are of the NN type, the transformation must include a central wrist axis.
● For 4-axes, ensure that the Z3 axis is always parallel/anti-parallel or perpendicular to the
last basic axis.
Frame: T_FL_WP
Frame T_FL_WP links the flange with the last internal coordinate system (wrist point coordinate
system) preset by the handling transformation package.
For kinematics with less than 6 axes, this frame is subject to certain restrictions. These
restrictions are explained by the relevant kinematics.
Other configuring data
Number of transformed axes
The number of axes included in the transformation is defined in machine data:
● MD62605 $MC_TRAFO6_NUM_AXES (number of transformed axes)
The number of transformed axes can currently lie between two and six axes.
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a central wrist axis or the 4th axis must be positioned in parallel to the last rotary basic
axis.
central wrist axis or the 4th axis must be positioned in parallel to the last basic rotary
axis and an X flange must intersect the 5th axis.
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions