Siemens sinumerik 840D sl Function Manual page 22

Detailed description
2.1 5-axis transformation
The kinematic transformation requires information about the design (kinematics) of the
machine, which are stored in machine data.
The kinematic transformation does not act on positioning axes.
2.1.2 Machine types for 5-axis transformation
Kinematics of machines for 5-axis transformation
5-axis machines are generally equipped with three linear and two rotary axes: the latter may
be implemented as a two-axis swivel head, a two-axis rotary table or as a combination of
single-axis rotary table and swivel head. These types of machine are characterized by:
1. Three linear axes form a right-handed, Cartesian coordinate system.
2. Rotary axes are parallel to the traversing direction of one of the linear axes.
3. Rotary axes are positioned vertically one above the other.
4. Rotary axes turn
5. The following applies to machine types 1 and 2:
6. The following applies to machine type 3:
7. Initial tool position:
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Example:
– A parallel to X
– B parallel to Y
– C parallel to Z
– Tool with two-axis swivel head (machine type 1)
– Workpiece with two-axis rotary table (machine type 2)
– Tool and workpiece with single-axis rotary table and swivel head (machine type 3)
– Rotary axis 1 is treated as the 4th machine axis of the transformation.
– Motion of 1st rotary axis changes the orientation of the 2nd rotary axis.
– Rotary axis 2 is treated as the 5th machine axis of the transformation.
– Motion of 2nd rotary axis does not change the orientation of the 1st rotary axis.
– 1. Rotary axis (4th machine axis of transformation) turns the tool.
– 2. Rotary axis (5th machine axis of transformation) turns the tool.
– in negative Z direction.
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0