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

TE4: Handling transformation package - 840D sl only
17.5 Descriptions of kinematics
Table 17-13 Configuration data 4-axis NR kinematic
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
See also
Definition of a joint (Page 638)
17.5.3

5-axis kinematics

5-axis kinematics usually imply 3 degrees of freedom for translation and 2 for orientation.
Restrictions
The following restrictions apply to 5-axis kinematics:
1. There are restrictions for the flange coordinate system because the X flange axis must
intersect the 5th axis, nevertheless, it must not be parallel to it.
2. The frame T_FL_WP is subject to the following condition as far as 5-axis articulated-arm
kinematics are concerned:
– MD62610 $MC_TRAFO6_TFLWP_POS = [0.0, 0.0, Z] (frame between wrist point and
– MD62611 $MC_TRAFO6_TFLWP_RPY = [A, 0.0, 0.0] (frame between wrist point and
3. There are restrictions for the tool as far as 5-axis articulated-arm kinematics are concerned:
– 4. Axis parallel to the 3rd axis: 2-dimensional tool is possible [X, 0.0, Z]
– 4. Axis perpendicular to the 3rd axis: Only 1-dimensional tool is possible [X, 0.0, 0.0]
666
flange (position component))
flange (rotation component))
Value
1
4
3
1
1
[3, 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, 300.0]
[0.0, 0.0, 500.0]
[0.0, 0.0, 0.0]
[300.0, 0.0, 0.0]
[0.0, 0.0, -90.0]
[200.0, 0.0, 0.0]
[0.0, -90.0, 180.0]
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions