Siemens sinumerik 840D sl Function Manual

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Contents

Special functions: Handling Transformation Package (TE4)Function Manual, 11/2006, 6FC5397-2BP10-2BA0 5Brief description 11.1 Brief descriptionFunctionalityThe handling transformation package has been designed for use on manipulators androbots. The package is a type of modular system, which enables the customer to configurethe transformation for his machine by setting machine data (provided that the relevantkinematics are included in the handling transformation package).Structure of Chapter 2Chapter 2 (Detailed Description) deals with the following topics:• Section 2.1 describes the environment for kinematic transformation.• Section 2.2. provides an explanation of basic terms.• Section 2.3 explains the machine data required to configure transformations.• Section 2.4 uses configuring examples to illustrate the most commonly used 2-axis to 5-axis kinematics that can be configured with the handling transformation package.• Sections 2.5 to 2.9 deal with the subject of programming, describing orientationprogramming, the entry of tool parameters and transformation calls.AbbreviationsFL Flange coordinate systemHP Wrist point coordinate systemIRO Internal robot coordinate systemp 3, q 3, r 3 Coordinates of the last basic axisRO Robot or base center point coordinate systemWS Workpiece coordinate systemWZ Tool coordinate systemx 3, y 3, z 3 Coordinates of the first wrist axis