Siemens SINUMERIK 840D sl Function Manual page 564

TE4: Transformation package handling
13.5 Descriptions of kinematics
9. Enter the mechanical zero offset in the machine data:
MD62617 $MC_TRAFO6_MAMES (offset between mathematical and mechanical zero
points)
10.Enter the basic axis lengths in the machine data:
MD62607 $MC_TRAFO6_MAIN_LENGTH_AB (basic axis lengths A and B)
11.Define frame T_IRO_RO and enter the offset in the machine data:
MD62612 $MC_TRAFO6_TIRORO_POS (frame between base center point and internal
system (position component))
Enter the rotation in the machine data:
MD62613 $MC_TRAFO6_TIRORO_RPY (frame between base center point and internal
system (rotation component))
12.Specification of frame T_X3_P3 to attach hand. For this purpose, the p3_q3_r3 coordinate
system must be regarded as the initial system. The offset is entered in the machine data:
MD62608 $MC_TRAFO6_TX3P3_POS (attachment of hand (position component))
The rotation is entered in the machine data:
MD62609 $MC_TRAFO6_TX3P3_RPY (attachment of hand (rotation component))
is entered.
13.Determine the flange coordinate system. For this purpose, the hand-point coordinate
system must be regarded as the initial system. The offset is entered in the machine data:
MD62610 $MC_TRAFO6_TFLWP_POS (frame between wrist point and flange (position
component))
The rotation is entered in the machine data:
MD62611 $MC_TRAFO6_TFLWP_RPY (frame between wrist point and flange (rotation
component))
564
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions