Description Of Machine Kinematics - Siemens SINUMERIK 840D sl Function Manual

F2: Multi-axis transformations
2.7 Generic 5-axis transformation and variants
2.7.2

Description of machine kinematics

Machine types
Like the existing 5-axis transformations, there are three different variants of generic 5-axis
transformation:
1. Machine type: Rotatable tool
Both rotary axes change the orientation of the workpiece. The orientation of the workpiece
is fixed.
2. Machine type: Rotatable workpiece
Both rotary axes change the orientation of the workpiece. The orientation of the tool is fixed.
3. Machine type: Rotatable tool and rotatable workpiece - one rotary axis changes the tool
orientation and the other the workpiece orientation.
Configurations
As previously, the machine configurations are defined in the following machine data (see
Section "Configuration of a machine for 5-axis transformation (Page 41)"):
$MC_TRAFO_TYPE_1, ..., _8
Additional types have been introduced for generic 5-axis transformation:
Table 2-1
Machine type
Swivel/rotatable:
Transformation types
Rotary axis direction
The direction of the rotary axis is defined by the following machine data:
$MC_TRAFO5_AXIS1_n (1st rotary axis) and
$MC_TRAFO5_AXIS2_n (2nd rotary axis)
where n is 1 or 2 for the first or second 5-axis transformation in the system respectively. The
machine data specified above are fields with three values, which describe that axis direction
vectorially (similar to the description of rotary axes for orientable toolholder). The absolute
value of the vectors is insignificant; only the defined direction is relevant.
Example:
1. A-axis is the rotary axis (parallel to the x direction):
MD24570 $MC_TRAFO5_AXIS1_1[0] = 1.0 (direction first rotary axis)
MD24570 $MC_TRAFO5_AXIS1_1[1] = 0.0
MD24570 $MC_TRAFO5_AXIS1_1[2] = 0.0
2. B-axis is the rotary axis (parallel to the y direction):
66
Overview of machine types for the generic 5-axis transformation
1
tool
24
2 3
workpiece Tool/workpiece
40 56
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions