Siemens sinumerik 840D sl Function Manual page 655

Detailed description
2.3 Configuration of a kinematic transformation
MD62604
The hand type is specified in machine data:
MD62604 $MC_TRAFO6_WRIST_AXES (wrist axis identifier)
The term wrist axes generally refers to axes four to six.
MD62610, MD62611
Frame T_FL_WP links the last hand coordinate system with the flange coordinate system.
MD62610 $MC_TRAFO6_TFLWP_POS (frame between wrist point and flange coordinate
system (position component), n = 0...2)
MD62611 $MC_TRAFO6_TFLWP_RPY (frame between wrist point and flange coordinate
system (rotation component), n = 0...2)
This data is explained in more detail in the following sections.
Basic axes included in every transformation
MD62603
The first 3 axes included in the transformation are generally referred to as the "basic axes".
They must always be mutually parallel or perpendicular. Each of the following basic axis
arrangements has its own special identifier (see Subsection "Definition of a joint"). The basic
axis identifier is specified via machine data:
MD62603 $MC_TRAFO6_MAIN_AXES (basic axis identifier)
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Special functions: Handling Transformation Package (TE4)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0