Siemens sinumerik 840D sl Function Manual

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Contents

Detailed description2.4 Descriptions of kinematicsSpecial functions: Handling Transformation Package (TE4)Function Manual, 11/2006, 6FC5397-2BP10-2BA0 43Machine data ValueMD62608 $MC_TRAFO6_TX3P3_POS [300.0, 0.0, -200.0]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, 0.0, 0.0]MD62614 $MC_TRAFO6_DHPAR4_5A [200.0, 0.0]MD62615 $MC_TRAFO6_DHPAR4_5D [0.0, 0.0]MD62616 $MC_TRAFO6_DHPAR4_5ALPHA [-90.0, 0.0]5-axis NR kinematics[]<:=:=:=+3+3+3[<][<]525252[]<)/)/)/STU<],52,52,52[1575$)2B0$,1B/(1*7+B$%>@0'75$)2B0$,1B/(1*7+B$%>@0'75$)2B7;3B326>@0'75$)2B7)/:3B326>@0'75$)2B7,5252B326>@0'Figure 2-23 5-axis NR kinematicsTable 2-15 Configuration data 5-axis NR kinematicMachine data ValueMD62600 $MC_TRAFO6_KINCLASS 1MD62605 $MC_TRAFO6_NUM_AXES 5MD62603 $MC_TRAFO6_MAIN_AXES 3MD62604 $MC_TRAFO6_WRIST_AXES 2MD62606 $MC_TRAFO6_A4PAR 0MD62601 $MC_TRAFO6_AXES_TYPE [3, 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 [30.0, 300.0]MD62612 $MC_TRAFO6_TIRORO_POS [0.0, 0.0, 500.0]MD62613 $MC_TRAFO6_TIRORO_RPY [0.0, 0.0, 0.0]