Commissioning Swivel Data (Kinematics Chain) - Siemens SINUMERIK 828D Commissioning Manual

Configuring cycles
7.7 Swiveling
● 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)?
This defines the rotary axis vectors of the kinematics.
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
7.7.3

Commissioning swivel data (kinematics chain)

Defining a swivel data set
You must create a swivel data set for every swivel head, swivel table or each combination of
both.
A swivel data set consists of the following parameters: $TC_CARR1[n] to $TC_CARR65[n]
n = number of swivel data set
The parameters of the swivel data set ($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.
Offset vectors I1 to I4
The vectors always contain three components which represent the reference to the machine
axes (X, Y, Z). The positions in the kinematic chain are measured by the machine
manufacturer; they are always relevant with respect to a swivel head / swivel table (swivel data
set). Offset vectors I1 to I4 refer to the non-swiveled state of the rotary axes (machine
kinematics basic setting).
The machine kinematics used do not need to be fully implemented. However, be aware that
the traversing range in the swivel planes may be restricted. If machine kinematics are to be
implemented with just one rotary axis, this must always be declared as the 1st rotary axis.
$TC_CARR1[n],
$TC_CARR4[n],
$TC_CARR15[n],
$TC_CARR18[n],
Rotary axis vectors V1 and V2
$TC_CARR7[n],
$TC_CARR10[n],
142
$TC_CARR2[n],
$TC_CARR5[n],
$TC_CARR16[n],
$TC_CARR19[n],
$TC_CARR8[n], $TC_CARR9[n]
$TC_CARR11[n], $TC_CARR12[n]
$TC_CARR3[n]
$TC_CARR6[n]
$TC_CARR17[n]
$TC_CARR20[n]
Rotary axis vector V1xyz
Rotary axis vector V2xyz
Commissioning Manual, 10/2015, 6FC5397-3DP40-5BA3
Offset vector I1xyz
Offset vector I2xyz
Offset vector I3xyz
Offset vector I4xyz
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