Te4: Transformation Package Handling; Brief Description - Siemens SINUMERIK 840D sl Function Manual

TE4: Transformation package handling

13.1

Brief description

The handling transformation package has been designed for use on manipulators and robots.
The package is a type of modular system, which enables the customer to configure the
transformation for his machine by setting machine data (provided that the relevant kinematics
are included in the handling transformation package).
Content of the description of functions
The description of functions for "Handling transformation package" deals with the following
topics:
• The chapter "KinematischeTransformation" describes the environment of the kinematic
transformation.
• The chapter "Definition of terms" explains some basic terms.
• The chapter titled "Configuration of the kinematic transformation" explains the machine
data required for the configuration.
• Chapter "Kinematic descriptions" uses configuring examples to illustrate the most
commonly used 2-axis to 5-axis kinematics that can be configured with the "Handling
transformation package".
• The programming is handled starting from Chapter "Tool orientation". describing
orientation programming, the entry of tool parameters and transformation calls.
Abbreviations
FL
HP
IRO
p , q
3
RO
WS
WZ
x , y
3
Special Functions
Function Manual 09/2011, 6FC5397-2BP40-2BA0
Flange coordinate system
Wrist point coordinate system
Internal robot coordinate system
, r Coordinates of the last basic axis
3 3
Robot or base center point coordinate system
Workpiece coordinate system
Tool coordinate system
, z Coordinates of the first wrist axis
3 3
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