Siemens SINUMERIK 840D sl Commissioning Manual page 521

Table 22- 3
Kinematics
Offset vector I1
Rotary axis vector V1
Offset vector I2
Offset vector I3
Rotary axis vector V2
Offset vector I4
Display version
Swivel mode
Direction
Correct tool
Rotary axes
Rotary axis 1
Angular range
Rotary axis 2
Angular range
1)
Example 5: Swivel table "TABLE_5"
Vectors relate to the basic setting of the kinematics
Rotary axis vector V1: Rotary axis A rotates around X.
Rotary axis vector V2: Rotary axis C rotates around Z.
Offset vector I2:
Offset vector I3:
Offset vector I4:
SINUMERIK Operate (IM9)
Commissioning Manual, 03/2013, 6FC5397-1DP40-3BA1
Commissioning softkey "Swivel", Kinematics (Example 4)
Mixed kinematics
X
0.000
0.000
0.000
300.000
0.000
-300.000
Axis-by-axis
Rotary axis 1
yes
B
0.000
C
0.000
Calculation of rotary axis vector V1: β = 45 degrees
V1Y= sin(45)= -0.7071
V1z= cos(45)= 0.7071
V1Y and V1z can be normalized to 1.
Distance from the reference point of
the machine to the pivot
point/intersection of rotary axis 1
Distance from the pivot point of rotary
axis 1 to the pivot point/intersection of
rotary axis 2
Closure of vector chain I4=-(I2+I3)
Y
0.000
1.000
1)
0.000
150.000
0.000
-150.000
Mode
Mode
Configuring cycles
22.6 Swiveling
MIXED_45
Z
-30.600
1.000
1)
30.600
0.000
-1.000
0.000
Auto
180.000
Auto
360.000
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