Siemens SINUMERIK 840D sl Function Manual page 649

Changing the axis sequence
Rearrangement of axes: MD62620
Note
With certain types of kinematics, it is possible to transpose axes without changing the behavior
of the kinematic transformation. Machine data:
MD62620 $MC_TRAFO6_AXIS_SEQ (rearrangement of axes)
The axes on the machine are numbered consecutively from 1 to 6 and must be entered in the
internal sequence in machine data:
MD62620 $MC_TRAFO6_AXIS_SEQ[0] ...[4]
All other axis-specific machine data refer to the sequence of axes on the machine.
Table 17-3
Basic axis kinematics
SS, CC
SC
CS
Example 1
There are two kinematics, such as those shown in Fig. "Rearrangement of axes 1". Kinematic
1 is directly included in the handling transformation package. It corresponds to a CC kinematic
with a wrist axis parallel to the last basic rotary axis.
Kinematic 2 is the same as kinematic 1 inasmuch as it is irrelevant for the resulting robot
movement whether the translational axis is axis 1 or axis 4. In this instance, the data for
kinematic 2 must be entered as follows in machine data:
● MD62620 $MC_TRAFO6_AXIS_SEQ (rearrangement of axes)
The input is as follows:
● MD62620 $MC_TRAFO6_AXIS_SEQ[ 0 ] = 4
● MD62620 $MC_TRAFO6_AXIS_SEQ[ 1 ] = 1
● MD62620 $MC_TRAFO6_AXIS_SEQ[ 2 ] = 2
● MD62620 $MC_TRAFO6_AXIS_SEQ[ 3 ] = 3
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Changing the axis sequence
TE4: Handling transformation package - 840D sl only
17.4 Configuration of a kinematic transformation
Options for changing axis sequence
Any
1 and 2
2 and 3
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