Siemens SINUMERIK 840D sl Function Manual page 646

TE4: Handling transformation package - 840D sl only
17.4 Configuration of a kinematic transformation
Table 17-1
Machine data
MD62604 $MC_TRAFO6_WRIST_AXES
MD62614 $MC_TRAFO6_DHPAR4_5A
MD62615 $MC_TRAFO6_DHPAR4_5D
MD62616 $MC_TRAFO6_DHPAR4_5ALPHA
Inclined wrist axis
The inclined wrist axis differs from the central wrist axis in two respects, i.e. the axes do not
intersect nor are they mutually perpendicular. Parameters a
type of hand, as shown in Table "Configuring data for a central wrist axis".
①
②
③
Figure 17-7
Table 17-2
Machine data
MD62604 $MC_TRAFO6_WRIST_AXES
MD62614 $MC_TRAFO6_DHPAR4_5A
MD62615 $MC_TRAFO6_DHPAR4_5D
MD62616 $MC_TRAFO6_DHPAR4_5ALPHA
646
Configuring data for a central wrist axis
MD62614 $MC_TRAFO6_DHPAR4_5A[ 0 ]
MD62616 $MC_TRAFO6_DHPAR4_5ALPHA[ 0 ]
MD62615 $MC_TRAFO6_DHPAR4_5D[ 1 ]
Inclined wrist axis, 5-axis machine
Configuring data for an inclined wrist axis (5-axis
Value
2
[0.0, 0.0]
[0.0, 0.0]
[-90.0, 90.0]
, d , and a
4 5
Value
6
[a4, 0.0]
[0.0, d5]
[α4, 0.0]
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
are available for this
4
Special functions