Siemens SINUMERIK 840D sl Function Manual page 575

Table 13-17 Configuring data for a special 3-axis SC kinematic
Machine data
MD62600 $MC_TRAFO6_KINCLASS
MD62602 $MC_TRAFO6_SPECIAL_KIN
MD62605 $MC_TRAFO6_NUM_AXES
MD62603 $MC_TRAFO6_MAIN_AXES
MD62604 $MC_TRAFO6_WRIST_AXES
MD62601 $MC_TRAFO6_AXES_TYPE
MD62620 $MC_TRAFO6_AXIS_SEQ
MD62618 $MC_TRAFO6_AXES_DIR
MD62617 $MC_TRAFO6_MAMES
MD62607 $MC_TRAFO6_MAIN_LENGTH_AB
MD62612 $MC_TRAFO6_TIRORO_POS
MD62613 $MC_TRAFO6_TIRORO_RPY
MD62608 $MC_TRAFO6_TX3P3_POS
MD62609 $MC_TRAFO6_TX3P3_RPY
MD62610 $MC_TRAFO6_TFLWP_POS
MD62611 $MC_TRAFO6_TFLWP_RPY
Special 4-axis SC kinematic
This special kinematic is characterized by the fact that axis 1 and axis 2 are mechanically
coupled. This coupling ensures that axis 2 is maintained at a constant angle when axis 1 is
swiveled. This kinematic also guarantees that axes 3 and 4 always remain perpendicular,
irrespective of the positions of axes 1 and 2. The identifier for this kinematic is:
MD62602 $MC_TRAFO6_SPECIAL_KIN = 7 (special kinematic type)
Figure 13-26 Special 4-axis SC kinematic
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
TE4: Transformation package handling
13.5 Descriptions of kinematics
Value
2
4
3
2
1
[1, 3, 3, ...]
[1, 2, 3, 4, 5, 6]
[1, 1, 1, 1, 1, 1]
[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
[0.0, 0.0]
[0.0, 0.0, 400.0]
[0.0, 0.0, 0.0]
[400.0, 0.0, 0.0]
[0.0, 0.0, -90.0]
[200.0, 0.0, 0.0]
[0.0, -90.0, 180.0]
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