Siemens SINUMERIK 840D sl Function Manual page 687

Number Identifier: $MC_
62602 TRAFO6_SPECIAL_KIN
62603 TRAFO6_MAIN_AXES
62604 TRAFO6_WRIST_AXES
62605 TRAFO6_NUM_AXES
62606 TRAFO6_A4PAR
62607 TRAFO6_MAIN_LENGTH_AB
62608 TRAFO6_TX3P3_POS
62609 TRAFO6_TX3P3_RPY
62610 TRAFO6_TFLWP_POS
62611 TRAFO6_TFLWP_RPY
62612 TRAFO6_TIRORO_POS
62613 TRAFO6_TIRORO_RPY
62614 TRAFO6_DHPAR4_5A
62615 TRAFO6_DHPAR4_5D
62616 TRAFO6_DHPAR4_5ALPHA
62617 TRAFO6_MAMES
62618 TRAFO6_AXES_DIR
62619 TRAFO6_DIS_WRP
62620 TRAFO6_AXIS_SEQ
62621 TRAFO6_SPIN_ON
62622 TRAFO6_SPIND_AXIS
62623 TRAFO6_SPINDLE_RAD_G
62624 TRAFO6_SPINDLE_RAD_H
62625 TRAFO6_SPINDLE_SIGN
62626 TRAFO6_SPINDLE_BETA
62627 TRAFO6_TRP_SPIND_AXIS
62628 TRAFO6_TRP_SPIND_LEN
62629 TRAFO6_VELCP
62630 TRAFO6_ACCCP
62631 TRAFO6_VELORI
62632 TRAFO6_ACCORI
62634 TRAFO6_DYN_LIM_REDUCE
62635 TRAFO6_VEL_FILTER_TIME
62636 TRAFO6_TFL_EXT_RPY
62637 TRAFO6_TOOL_DIR
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
TE4: Handling transformation package - 840D sl only
Description
Special kinematic type
Basic axis identifier
Wrist axis identifier
Number of transformed axes
Axis 4 is parallel/anti-parallel to last basic axis
Basic axis lengths A and B
Attachment of hand (position component)
Attachment of hand (rotation component)
Frame between wrist point and flange (position compo‐
nent)
Frame between wrist point and flange (rotation compo‐
nent)
Frame between base center point and internal system
(position component)
Frame between base center point and internal system
(rotation component)
Parameter A for configuring the hand
Parameter D for configuring the hand
Parameter ALPHA for configuring the hand
Offset between mathematical and mechanical zero
points
Matching of physical and mathematical directions of ro‐
tation
Mean distance between wrist point and singularity
Rearrangement of axes
Configuration includes triangular or trapezoidal spin‐
dles
Axis that is controlled by triangular spindle
Radius G for triangular spindle
Radius H for triangular spindle
Sign for triangular spindle
Angular offset for triangular spindle
Axes driven via trapezoidal connection
Trapezoid lengths
Cartesian velocities
Cartesian acceleration rates
Orientation angle velocities
Orientation angle acceleration rates
Reduction factor for velocity controller during the JOG
travel
Time constant for PT1 filter during the JOG travel
Adaptation of the flange coordinate system
Definition of the tool direction
17.14 Data lists
687