Siemens SINUMERIK 840D sl Function Manual page 654

TE4: Handling transformation package - 840D sl only
17.5 Descriptions of kinematics
3. Compare the basic axes with the basic axes contained in the handling transformation
package. → Enter the basic axis identifier in machine data:
MD62603 $MC_TRAFO6_MAIN_AXES (basic axis identifier)
4. If the axis sequence is not the same as the normal axis sequence, it must be corrected in
machine data:
MD62620 $MC_TRAFO6_AXIS_SEQ (rearrangement of axes)
5. As identifier for the wrist axes, the following machine data must be set to 1 (no wrist axis):
MD62604 $MC_TRAFO6_WRIST_AXES = 1 (wrist axis identifier)
6. Enter the axis types for the transformation in machine data:
MD62601 $MC_TRAFO6_AXES_TYPE (axis type for transformation)
7. Compare the directions of rotation of axes with the directions defined in the handling
transformation package and correct in machine data:
MD62618 $MC_TRAFO6_AXES_DIR (matching of physical and mathematical directions
of rotation)
8. Enter the mechanical zero offset in machine data:
MD62617 $MC_TRAFO6_MAMES (offset between mathematical and mechanical zero
points)
9. Enter the basic axis lengths in machine data:
MD62607 $MC_TRAFO6_MAIN_LENGTH_AB (basic axis lengths A and B)
10.Define frame T_IRO_RO and enter the offset in machine data:
MD62612 $MC_TRAFO6_TIRORO_POS (frame between base center point and internal
system (position component))
Enter the rotation in machine data:
MD62613 $MC_TRAFO6_TIRORO_RPY (frame between base center point and internal
system (rotation component))
11.Determine the flange coordinate system. For this purpose, the p3_q3_r3 coordinate system
must be regarded as the initial system. The offset is entered in machine data:
MD62610 $MC_TRAFO6_TFLWP_POS (frame between wrist point and flange (position
component))
The rotation is entered in machine data:
MD62611 $MC_TRAFO6_TFLWP_RPY (frame between wrist point and flange (rotation
component))
SCARA kinematics
SCARA kinematics are characterized by the fact that they possess both translational and rotary
axes. The kinematics have different names depending on how the basic axes are arranged
with respect to one another, e.g.: CC, SC, CS kinematics (see Chapter "Definition of a joint
(Page 638)").
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Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions