Siemens SINUMERIK 828D Commissioning Manual page 520

Configuring cycles
7.7 Swiveling
Kinematics
Retraction
Offset vector I1
Rotary axis vector V1
Offset vector I2
Rotary axis vector V2
Offset vector I3
Display version
Swivel mode
Direction reference
Rotary axes
Rotary axis 1
Angular range
Kinematics offset
Hirth gearing
Rotary axis 2
Angular range
Kinematics offset
1) Calculation of rotary axis vector:
V2: 45 degree angle
V2Y = sin(-45) = -0.7071
V2Z = cos(-45) = 0.7071
V2Y and V1Z can be normalized to 1.
Example 3: Cardanic table "TABLE_45"
The vectors in the drawing refer to the initial setting of the kinematics. The spindle (tool adapter)
is positioned on a gage block above the top edge of the table/center of the table (rotary axis
C). A test mandrel in the spindle is used to determine the center of rotation of rotary axis C.
152
Swivel head
Z
X
0.000
0.000
0.000
0.000
0.000
Axis by axis
Rotary axis 2
B
0.000
0.000
Yes
C
0.000
0.000
Commissioning Manual, 10/2015, 6FC5397-3DP40-5BA3
Tool direction
Y
-172.000
1.000
172.000
1.000
1)
0.000
Mode
Angular grid
Mode
HEAD_2
Max.+inc.
Z
200.000
-265.800
0.000
172.000
1.000
1)
93.800
Manual
360.000
1.000
Manual
180.000
SINUMERIK Operate