Siemens SINUMERIK 840D sl Function Manual page 551

Changing the axis sequence
MD62620
Note
With certain types of kinematics, it is possible to transpose axes without changing the
behavior of the kinematic transformation. Machine data:
MD62620 $MC_TRAFO6_AXIS_SEQ (rearrangement of axes)
The axes on the machine are numbered consecutively from 1 to 5 and must be entered in the
internal sequence in machine data:
MD62620 $MC_TRAFO6_AXIS_SEQ[0] ...[4]
All other axis-specific machine data refer to the sequence of axes on the machine.
Table 13-3
Basic axis kinematics
SS, CC
SC
CS
Example 1
This example involves two kinematics such as those illustrated in Fig. "Rearrangement of
axes (example 1). Kinematic 1 is directly included in the handling transformation package. It
corresponds to a CC kinematic with a wrist axis parallel to the last basic rotary axis.
Kinematic 2 is the same as kinematic 1 inasmuch as it is irrelevant for the resulting robot
movement whether the translational axis is axis 1 or axis 4. In this instance, the data for
kinematic 2 must be entered as follows in machine data:
MD62620 $MC_TRAFO6_AXIS_SEQ (rearrangement of axes)
The input is as follows:
MD62620 $MC_TRAFO6_AXIS_SEQ[ 0 ] = 4
MD62620 $MC_TRAFO6_AXIS_SEQ[ 1 ] = 1
MD62620 $MC_TRAFO6_AXIS_SEQ[ 2 ] = 2
MD62620 $MC_TRAFO6_AXIS_SEQ[ 3 ] = 3
Figure 13-9 Rearrangement of axes
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Changing the axis sequence
TE4: Transformation package handling
13.4 Configuration of a kinematic transformation
Options for changing axis sequence
Any
1 and 2
2 and 3
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