Siemens sinumerik 840D sl Function Manual page 681

Detailed description
2.4 Descriptions of kinematics
Configuration
The procedure for configuring a 5-axis kinematic is as follows:
1. Enter "Standard" kinematic category in machine data:
2. Set the number of axes for transformation in the machine data:
3. Compare the basic axes with the basic axes contained in the handling transformation
4. If the axis sequence is not the same as the normal axis sequence, it must be corrected in
5. ID specification for the wrist axes. If axis 4 and 5 intersect, a central hand (ZEH) is
6. Whether axis 4 runs parallel/anti-parallel to the last rotary basic axis must be entered into
7. Enter the axis types for the transformation in machine data:
8. Compare the directions of rotation of axes with the directions defined in the handling
9. Enter the mechanical zero offset in the machine data:
10. Enter the basic axis lengths in machine data:
11. Define frame T_IRO_RO and enter the offset in machine data:
40
MD62600 $MC_TRAFO6_KINCLASS (kinematic category)
MD62605 $MC_TRAFO6_NUM_AXES = 5 (number of transformed axes)
package.
– Enter the basic axis identifier in machine data:
MD62603 $MC_TRAFO6_MAIN_AXES (basic axis identifier)
machine data:
MD62620 $MC_TRAFO6_AXIS_SEQ (rearrangement of axes)
present. In all other cases, the ID for beveled hand with elbow (BHE) must be entered in
the machine data:
MD62604 $MC_TRAFO6_WRIST_AXES (wrist axis identifier)
the machine data:
MD62606 $MC_TRAFO6_A4PAR (axis 4 is parallel/anti-parallel to last basic axis)
MD62601 $MC_TRAFO6_AXES_TYPE (axis type for transformation)
transformation package and correct in machine data:
MD62618 $MC_TRAFO6_AXES_DIR (matching of physical and mathematical directions
of rotation)
MD62617 $MC_TRAFO6_MAMES (offset between mathematical and mechanical zero
points)
MD62607 $MC_TRAFO6_MAIN_LENGTH_AB (basic axis lengths A and B)
MD62612 $MC_TRAFO6_TIRORO_POS (frame between base center point and internal
system (position component))
Define frame T_IRO_RO and enter the rotation in machine data:
MD62613 $MC_TRAFO6_TIRORO_RPY (frame between base center point and internal
system (rotation component))
Special functions: Handling Transformation Package (TE4)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0