Siemens SINUMERIK 840D sl Function Manual page 668

TE4: Handling transformation package - 840D sl only
17.5 Descriptions of kinematics
12.Specification of frame T_X3_P3 to attach hand. The offset is entered in machine data:
MD62608 $MC_TRAFO6_TX3P3_POS (attachment of hand (position component))
The rotation is entered in the machine data:
MD62609 $MC_TRAFO6_TX3P3_RPY (attachment of hand (rotation component))
13.Specification of wrist axes parameters. For this purpose, only the parameters for axis 4
must be entered in the machine data:
MD62614 $MC_TRAFO6_DHPAR4_5A[0] (parameter A for configuring the hand)
MD62616 $MC_TRAFO6_DHPAR4_5ALPHA[0] (parameter A for configuring the hand)
All other parameters must be set to 0.0.
14.Determine the flange coordinate system. For this purpose, the hand-point coordinate
system must be regard as the initial system. The offset is entered in the machine data:
MD62610 $MC_TRAFO6_TFLWP_POS (frame between wrist point and flange (position
component))
The rotation is entered in the machine data:
MD62611 $MC_TRAFO6_TFLWP_RPY (frame between wrist point and flange (rotation
component))
SCARA kinematics
5-axis CC kinematics
Figure 17-22 5-axis CC kinematics
Table 17-14 Configuration data for 5-axis CC kinematics
Machine data
MD62600 $MC_TRAFO6_KINCLASS
MD62605 $MC_TRAFO6_NUM_AXES
668
Value
1
5
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions