Siemens SINUMERIK 840D sl Function Manual page 1452

W1: Tool offset
18.6 Toolholder with orientation capability
Figure 18-40 Kinematic chain to describe a rotary table
Vectors, which describe offsets in the rotary table, are positive in the direction from the machine
reference point to the table.
The following kinematic type is defined for machines with a rotary workpiece:
$TC_CARR23 using letter P
Note
On machines with rotary workpiece it is generally useful if the selected machine reference
point and the reference point of the table are identical. Selecting the reference points in this
way has the advantage that the position of the workpiece zero in the initial state (i.e. with rotary
axes not turned) does not change when the rotary table is activated. The (open) kinematic
chain (see figure) is then closed.
In this special case, therefore, the following formula applies: l
Machines with extended kinematics
On machines with extended kinematics (both tool and workpiece are rotary), it is only possible
to turn each of the components with one axis.
The kinematic of the rotary tool is described with the first rotary axis (v
l and l
1
The two kinematic chain components for machines with rotary tool and rotary workpiece are
shown in the figure below.
1452
, that of the rotary table with the second rotary axis (v
2
= - (l + l )
2 3 4
) and the two vectors
1
) and the two vectors l
2
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
and l .
3 4
Basic Functions