Siemens SINUMERIK 840D sl Programming Manual page 657

Machine kinematics for three, four and five axis transformation (TRAORI)
Either the tool or the tool table can be rotatable with up to two rotary axes. A combination of
swivel head and rotary table (single-axis in each case) is also possible.
Machine type
Three-axis transformation ma‐
chine types 1 and 2
Four-axis transformation ma‐
chine types 1 and 2
Five-axis transformation ma‐
chine types 3
Single-axis swivel head and
single-axis rotary table
Generic 5/6-axis transformations
Machine type
Generic five/six-axis transfor‐
mation machine types 4
Two-axis swivel head with tool
which rotates around itself and
single-axis rotary table
When calling "generic three-, four-, and five/six-axis transformation", the basic orientation of the
tool can also be transferred. The restrictions in respect of the directions of the rotary axes no
longer apply. If the rotary axes are not exactly vertical to one another or existing rotary axes are
NC programming
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
Swivel head,
Z
can be rotated
about X axis
and Z axis
C
A
X
C
Tool table, fixed
Rotated tool Rotated tool Rotated
workpiece
Machine type 1 with Machine type 3 with
axis sequence CA axis sequence BC
Programming of orientation
Programming of tool orientation only in the plane, which is perpendic‐
ular to the rotary axis. There are
two translatory axes (linear axes) and
one axis of rotation (rotary axis).
Programming of tool orientation only in the plane, which is perpendic‐
ular to the rotary axis. There are
three translatory axes (linear axes) and
one axis of rotation (rotary axis).
Programming of orientation transformation. Kinematics with
three linear axes and two orthogonal rotary axes.
The rotary axes are parallel to two of the three linear axes. The first
rotary axis is moved by two Cartesian linear axes. It rotates the third
linear axis with the tool. The second rotary axis rotates the workpiece.
Programming of orientation transformation
Programming of orientation transformation. Kinematics with
three linear axes and three orthogonal rotary axes.
The rotary axes are parallel to two of the three linear axes. The first
rotary axis is moved by two Cartesian linear axes. It rotates the third
linear axis with the tool. The second rotary axis rotates the workpiece.
The basic tool orientation can also be programmed with additional ro‐
tation of the tool around itself with the THETA rotary angle.
Swivel head, Swivel head,
can be rotated fixed
about Y axis
B
Y
Tool table, can
Tool table, can
be rotated
be rotated about X axis
and Z axis
about Z axis
Z Z
C
Rotated workpiece
Machine type 2 with
axis sequence AC
Work preparation
3.9 Transformations
Y
A
X
657