4-Axis Kinematics - Siemens SINUMERIK 840D sl Function Manual

13.5.2

4-axis kinematics

4-axis kinematics usually imply 3 translational degrees of freedom and one degree of freedom
for orientation.
Restrictions
The following restrictions apply to 4-axis kinematics:
The frame T_FL_WP is subject to the following condition:
• MD62611 $MC_TRAFO6_TFLWP_RPY = [ 0.0, 90.0, 0.0 ] (frame between wrist point and
flange (rotation component))
• X flange and X tool must be parallel to the 4th axis.
• Two successive basic axes must be parallel or orthogonal.
• The 4th axis must only be mounted in a parallel or orthogonal way to the last basic axis.
Configuration
The procedure for configuring a 4-axis kinematic is as follows:
1. Enter "Standard" kinematic category in the machine data:
MD62600 $MC_TRAFO6_KINCLASS (kinematic category)
2. Set the number of axes for transformation in the machine data:
MD62605 $MC_TRAFO6_NUM_AXES=4 (number of transformed axes)
3. Compare the basic axes with the basic axes contained in the handling transformation
package.
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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 (no hand):
MD62604 $MC_TRAFO6_WRIST_AXES = 1 (wrist axis identifier)
6. Whether axis 4 runs parallel/anti-parallel to the last rotary basic axis is entered into the
machine data:
MD62606 $MC_TRAFO6_A4PAR (axis 4 is parallel/anti-parallel to last basic axis)
7. Enter the axis types for the transformation in machine data:
MD62601 $MC_TRAFO6_AXES_TYPE (axis type for transformation)
8. Compare the directions of rotation of axes with the directions defined in the handling
transformation package and correct in the machine data:
MD62618 $MC_TRAFO6_AXES_DIR (matching of physical and mathematical directions
of rotation)
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Enter the basic axis identifier in machine data:
MD62603 $MC_TRAFO6_MAIN_AXES (basic axis identifier)
TE4: Transformation package handling
13.5 Descriptions of kinematics
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