Siemens sinumerik 840D sl Function Manual

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Detailed description2.4 Descriptions of kinematicsSpecial functions: Handling Transformation Package (TE4)Function Manual, 11/2006, 6FC5397-2BP10-2BA0 39Table 2-13 Configuration data 4-axis NR kinematicMachine data ValueMD62600 $MC_TRAFO6_ KINCLASS 1MD62605 $MC_TRAFO6_NUM_AXES 4MD62603 $MC_TRAFO6_MAIN_AXES 3MD62604 $MC_TRAFO6_WRIST_AXES 1MD62606 $MC_TRAFO6_A4PAR 1MD62601 $MC_TRAFO6_AXES_TYPE [3, 3, 3, 3, ...]MD62620 $MC_TRAFO6_AXIS_SEQ [1, 2, 3, 4, 5, 6]MD62618 $MC_TRAFO6_AXES_DIR [1, 1, 1, 1, 1, 1]MD62617 $MC_TRAFO6_MAMES [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]MD62607 $MC_TRAFO6_MAIN_LENGTH_AB [300.0, 300.0]MD62612 $MC_TRAFO6_TIRORO_POS [0.0, 0.0, 500.0]MD62613 $MC_TRAFO6_TIRORO_RPY [0.0, 0.0, 0.0]MD62608 $MC_TRAFO6_TX3P3_POS [300.0, 0.0, 0.0]MD62609 $MC_TRAFO6_TX3P3_RPY [0.0, 0.0, -90.0]MD62610 $MC_TRAFO6_TFLWP_POS [200.0, 0.0, 0.0]MD62611 $MC_TRAFO6_TFLWP_RPY [0.0, -90.0, 180.0]2.4.3 5-axis kinematics5-axis kinematics usually imply 3 degrees of freedom for translation and 2 for orientation.RestrictionsThe following restrictions apply to 5-axis kinematics:1. There are restrictions for the flange coordinate system because the X flange axis mustintersect the 5th axis, nevertheless, it must not be parallel to it.2. The frame T_FL_WP is subject to the following condition as far as 5-axis articulated-armkinematics are concerned:– MD62610 $MC_TRAFO6_TFLWP_POS = [0.0, 0.0, Z] (frame between wrist point andflange (position component))– MD62611 $MC_TRAFO6_TFLWP_RPY = [A, 0.0, 0.0] (frame between wrist point andflange (rotation component))3. There are restrictions for the tool as far as 5-axis articulated-arm kinematics areconcerned:– 4. Axis parallel to the 3rd axis: 2-dimensional tool is possible [X, 0.0, Z]– 4. Axis perpendicular to the 3rd axis: Only 1-dimensional tool is possible [X, 0.0, 0.0]4. There are restrictions for the tool as far as 5-axis Scara kinematics are concerned:– 4. Axis perpendicular to the 3rd axis: 1-dimensional tool is possible [X, 0.0, 0.0]5. Two successive basic axes must be parallel or orthogonal.6. The 4th axis must only be mounted in a parallel or orthogonal way to the last basic axis.