Siemens SINUMERIK 840D sl Function Manual page 567

Special functions

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Table of Contents

4-axis CS kinematic

Figure 13-20 4-axis CS kinematic

Table 13-12 Configuration data for 4-axis CS kinematics

Machine data

MD62600 $MC_TRAFO6_KINCLASS

MD62605 $MC_TRAFO6_NUM_AXES

MD62603 $MC_TRAFO6_MAIN_AXES

MD62604 $MC_TRAFO6_WRIST_AXES

MD62606 $MC_TRAFO6_A4PAR

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 Functions

Function Manual, 09/2011, 6FC5397-2BP40-2BA0

TE4: Transformation package handling

13.5 Descriptions of kinematics

[3, 1, 1, 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]

[400.0, 0.0]

[0.0, 0.0, 400.0]

[0.0, 0.0, 0.0]

[500.0, 0.0, -200.0]

[90.0, 0.0, 180.0]

[200.0, 0.0, 0.0]

[0.0, -90.0, 0.0]

Sinumerik 840de sl