4-Axis Kinematics - Siemens SINUMERIK 840D sl Function Manual

TE4: Handling transformation package - 840D sl only
17.5 Descriptions of kinematics
3-axis NN kinematics
Figure 17-17 3-axis NN kinematics
Table 17-9
Machine data
MD62600 $MC_TRAFO6_KINCLASS
MD62605 $MC_TRAFO6_NUM_AXES
MD62603 $MC_TRAFO6_MAIN_AXES
MD62604 $MC_TRAFO6_WRIST_AXES
MD62601 $MC_TRAFO6_AXES_TYPE
MD62620 $MC_TRAFO6_AXIS_SEQ
MD62618 $MC_TRAFO6_AXES_DIR
MD62617 $MC_TRAFO6_MAMES
MD62607 $MC_TRAFO6_MAIN_LENGTH_AB
MD62612 $MC_TRAFO6_TIRORO_POS
MD62613 $MC_TRAFO6_TIRORO_RPY
MD62608 $MC_TRAFO6_TX3P3_POS
MD62609 $MC_TRAFO6_TX3P3_RPYFehler! Bookmark not defined.
MD62610 $MC_TRAFO6_TFLWP_POS
MD62611 $MC_TRAFO6_TFLWP_RPY
17.5.2

4-axis kinematics

4-axis kinematics normally have 3 translational degrees of freedom and one rotational degree
of freedom for orientation.
660
Configuration data for 3-axis NN kinematics
Value
1
3
7
1
[3, 3, 3, ...]
[1, 2, 3, 4, 5, 6]
[1, 1, 1, 1, 1, 1]
[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
[300.0, 500.0]
[0.0, 0.0, 300.0]
[0.0, 0.0, 90.0]
[0.0, 0.0, 0.0]
[0.0, 0.0, 0.0]
[400.0, 0.0, 0.0]
[0.0, 0.0, -90.0]
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions