Siemens SINUMERIK 840D sl Function Manual page 642

TE4: Handling transformation package - 840D sl only
17.4 Configuration of a kinematic transformation
Frame between base center point and internal coordinate system
The frame T_IRO_RO links the base center point of the machine (BCS = RO) with the first
internal coordinate system (IRO) determined by the transformation.
● MD62613 $MC_TRAFO6_TIRORO_RPY (frame between base center point and internal
coordinate system (rotation component), n = 0...2)
● MD62612 $MC_TRAFO6_TIRORO_POS (frame between base center point and internal
coordinate system (position component), n = 0...2)
Basic axis arrangement
The type of basic axis arrangement is specified in machine data:
● MD62603 $MC_TRAFO6_MAIN_AXES (basic axis identifier)
The first three axes included in the transformation are generally referred to as the "basic axes".
They must always be mutually parallel or perpendicular.
The handling transformation package contains the basic axis kinematics shown in the following
diagram. Every basic axis arrangement has its own special identifier (see Chapter "Definition
of a joint (Page 638)").
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Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions