Siemens sinumerik 840D sl Function Manual page 685

Detailed description
2.4 Descriptions of kinematics
Machine data
MD62608 $MC_TRAFO6_TX3P3_POS
MD62609 $MC_TRAFO6_TX3P3_RPY
MD62610 $MC_TRAFO6_TFLWP_POS
MD62611 $MC_TRAFO6_TFLWP_RPY
MD62614 $MC_TRAFO6_DHPAR4_5A
MD62615 $MC_TRAFO6_DHPAR4_5D
MD62616 $MC_TRAFO6_DHPAR4_5ALPHA
2.4.4 6-axis kinematics
6-axis kinematics usually imply 3 degrees of freedom for translation and 3 more for
orientation. This allows for the tool direction to be manipulated freely in space. Also, the tool
can be rotated along its own axis to the machining surface or inclined with a tilting angle.
This kinematic type is supported by the software, but only for very specific solutions as the
auxiliary method for this handling transformation package. A general, comprehensive and
universally applicable software version is still not available for 6-axis kinematics.
2.4.5 Special kinematics
MD62602 $MC_TRAFO6_SPECIAL_KIN (special kinematic type)
Special kinematics are kinematics that are not directly included in the building block system
of the Handling transformation package. They are frequently missing a degree of freedom or
are characterized by mechanical links between the axes or with the tool. Set the following
machine data for these kinematics:
MD62600 $MC_TRAFO6_KINCLASS = 2 (kinematic category)
Which special kinematic is handled is specified in machine data:
MD62602 $MC_TRAFO6_SPECIAL_KIN (special kinematic type)
Special 2-axis SC kinematic
This special kinematic is characterized by the fact that the tool is always maintained in the
same orientation via a mechanical linkage. It implies two Cartesian degrees of protection.
The identifier for this kinematic is machine data:
MD62602 $MC_TARFO6_SPECIAL_KIN = 3 (special kinematic type)
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Value
[500.0, 0.0, 0.0]
[0.0, 90.0, 0.0]
[0.0, -300.0, 0.0]
[-90.0, 0.0, 0.0]
[0.0, 0.0]
[0.0, 0.0]
[-90.0, 0.0]
Special functions: Handling Transformation Package (TE4)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0