Siemens SINUMERIK 840D sl Function Manual page 665

Table 17-12 Configuration data for 4-axis CS kinematics
Machine data
MD62600 $MC_TRAFO6_KINCLASS
MD62605 $MC_TRAFO6_NUM_AXES
MD62603 $MC_TRAFO6_MAIN_AXES
MD62604 $MC_TRAFO6_WRIST_AXES
MD62606 $MC_TRAFO6_A4PAR
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_RPY
MD62610 $MC_TRAFO6_TFLWP_POS
MD62611 $MC_TRAFO6_TFLWP_RPY
Articulated-arm kinematics
4-axis NR kinematics
①
②
③
④
⑤
Figure 17-21 4-axis NR kinematics
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
MD62612 $MC_TRAFO6_TIRORO_POS[2]
MD62607 $MC_TRAFO6_MAIN_LENGTH_AB[0]
MD62607 $MC_TRAFO6_MAIN_LENGTH_AB[1]
MD62608 $MC_TRAFO6_TX3P3_POS[0]
MD62610 $MC_TRAFO6_TFLWP_POS[0]
TE4: Handling transformation package - 840D sl only
17.5 Descriptions of kinematics
Value
1
4
6
1
1
[3, 1, 1, 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]
[400.0, 0.0]
[0.0, 0.0, 400.0]
[0.0, 0.0, 0.0]
[500.0, 0.0, -200.0]
[90.0, 0.0, 180.0]
[200.0, 0.0, 0.0]
[0.0, -90.0, 0.0]
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