Siemens SINUMERIK 840D Manual page 12

1.3
12
Basic information
1.3.2 Kinematics of 5-axis machining centers
A 5-axis machine can control tool motion in 5 axes. These are the 3 linear axes (with which you
will already be familiar) and an additional 2 rotary axes. There are different kinematic solutions
for the two rotary axes. We will present the most common of these schematically. Machine tool
manufacturers are constantly developing new kinematic solutions for different requirements.
With SINUMERIK controls, even special kinematics can be controlled on the basis of the inte-
grated, kinematic transformation feature. Special cases such as hexapods, etc. will not be
explored in further detail here.
Two rotary axes in the head
Fork
Two rotary axes in the table
Rotate/swivel
*: If the axis of rotation is not perpendicular to a linear axis, then this is known as a "nutated" axis.
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Nutated fork *
Rotate/swivel nutated *