Descriptions Of Kinematics; 3-Axis Kinematics - Siemens SINUMERIK 840D sl Function Manual

13.5

Descriptions of kinematics

The following descriptions of kinematics for transformations involving 2 to 5 axes explain the
general configuring procedure first before describing how the machine data need to be
configured, using a configuring example for each kinematic type. These examples do not
include all possible lengths and offsets. The direction data refer to the positive directions of
traversal and rotation for the transformation. The axis positions correspond to their zero
position for the relevant transformation.
13.5.1

3-axis kinematics

3-axis kinematics normally possess 3 translational degrees of freedom, but do not have a
degree of freedom for orientation. In other words, they only include basic axes.
Configuration
The procedure for configuring a 3-axis kinematic is as follows:
1. Enter "Standard" kinematic category in machine data:
MD62600 $MC_TRAFO6_KINCLASS (kinematic category)
2. Set the number of axes for transformation in machine data:
MD62605 $MC_TRAFO6_NUM_AXES = 3 (number of transformed axes)
3. Compare the basic axes with the basic axes contained in the handling transformation
package. → Enter the basic axis identifier in machine data:
MD62603 $MC_TRAFO6_MAIN_AXES (basic axis identifier)
4. If the axis sequence is not the same as the normal axis sequence, it must be corrected in
machine data:
MD62620 $MC_TRAFO6_AXIS_SEQ (rearrangement of axes)
5. As identifier for the wrist axes, the following machine data must be set to 1 (no hand):
MD62604 $MC_TRAFO6_WRIST_AXES = 1 (wrist axis identifier)
6. Enter the axis types for the transformation in machine data:
MD62601 $MC_TRAFO6_AXES_TYPE (axis type for transformation)
7. Compare the directions of rotation of axes with the directions defined in the handling
transformation package and correct in machine data:
MD62618 $MC_TRAFO6_AXES_DIR (matching of physical and mathematical directions
of rotation)
8. Enter the mechanical zero offset in machine data:
MD62617 $MC_TRAFO6_MAMES (offset between mathematical and mechanical zero
points)
9. Enter the basic axis lengths in machine data:
MD62607 $MC_TRAFO6_MAIN_LENGTH_AB (basic axis lengths A and B)
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
TE4: Transformation package handling
13.5 Descriptions of kinematics
555