Commissioning Of The Kinematic Chain (Swivel Data Record) - Siemens SINUMERIK 840D sl Commissioning Manual

Configuring cycles
22.6 Swiveling
● What are the names of the rotary axes of the kinematics?
Manual rotary axes are permitted and do not have to be declared in the NC.
● What is the 1st or 2nd rotary axis of a swivel data set?
Rule: Rotary axis 2 is based on rotary axis 1. With mixed kinematics, rotary axis 1 is
always the axis for the tool orientation.
● Is the traversing direction of the linear axes and the rotary axes correct? Right-hand rule
Rule: If the linear axis or the rotary axis moves the workpiece, the direction of motion of
the axis and also the sign of the rotary axis vector change.
● What is the initial setting of the kinematics?
This defines the tool orientation and the plane G17, G18, G19.
● Which rotary axis rotates around which axis of the coordinate system or the machine axis
(axes)?
Example 1:
Head kinematics. Rotary axis 2 rotates around axis Y → rotary axis vector V2xyz = 0,1,0
Example 2:
Table kinematics. Rotary axis 1 rotates around axis X → rotary axis vector V1xyz = -1,0,0
22.6.3

Commissioning of the kinematic chain (swivel data record)

Swivel data set
You must create a swivel data set for every swivel head, swivel table or each combination of
both.
Swivel data sets can be declared in several channels (see machine data).
A swivel data set comprises the parameters $TC_CARR1[n] to $TC_CARR65[n]
n = number of the swivel data set.
The parameters of the swivel data set ($TC_CARR1[n] to $TC_CARR65[n]) can be read-in
and read-out in the startup operating area. Programming with appropriate value assignment
is also possible in an NC program (manufacturer cycle). The parameters of the swivel data
set are immediately effective after the program has started.
References
You can find additional information in:
● Function Manual Basic Functions; Tool Offset (W1)
● Function Manual Special Functions; Multiple Transformations (F2)
500
This defines the rotary axis vectors of the kinematics.
Commissioning Manual, 03/2013, 6FC5397-1DP40-3BA1
SINUMERIK Operate (IM9)