Siemens SINUMERIK 840D sl Function Manual page 595

10.Enter the data which define the hand:
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11.Enter the geometry parameters:
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12.Enter the position in relation to the calibration point in the machine data:
MD62617 $MC_TRAFO6_MAMES (offset between mathematical and mechanical zero
points)
13.Enter the Cartesian velocities and acceleration rates.
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Wrist axis identifier in the machine data:
MD62604 $MC_TRAFO6_WRIST_AXES (wrist axis identifier)
Parameters for hand in the machine data:
MD62614 $MC_TRAFO6_DHPAR4_5A (parameter A for configuring the hand)
MD62615 $MC_TRAFO6_DHPAR4_5D (parameter D for configuring the hand)
MD62616 $MC_TRAFO6_DHPAR4_5ALPHA (parameter ALPHA for configuring the
hand)
MD62606 $MC_TRAFO6_A4PAR (axis 4 is parallel/anti-parallel to last basic axis)
Frame T_IRO_RO
Frame T_X3_P3
Frame T_FL_WP
TE4: Transformation package handling
13.14 Examples
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