Siemens sinumerik 840D sl Function Manual page 9

Table of contents
1 Brief description ......................................................................................................................................... 5
1.1 5-axis Transformation ....................................................................................................................5
1.2 3-axis and 4-axis transformation....................................................................................................7
1.3 Orientation transformation with a swivelling linear axis. ................................................................8
1.4 Universal milling head..................................................................................................................10
1.5 Orientation axes ...........................................................................................................................11
1.6 Cartesian manual travel ...............................................................................................................12
1.7 Cartesian PTP travel....................................................................................................................12
1.8 Generic 5-axis transformation......................................................................................................12
1.9 Online tool length offset ...............................................................................................................13
1.10 Activation via parts/program/softkey............................................................................................13
1.11 Orientation compression ..............................................................................................................13
2 Detailed description ................................................................................................................................. 15
2.1 5-axis transformation ...................................................................................................................15
2.1.1 Kinematic transformation .............................................................................................................15
2.1.2 Machine types for 5-axis transformation......................................................................................16
2.1.3 Configuration of a machine for 5-axis transformation ..................................................................17
2.1.4 Tool orientation ............................................................................................................................22
2.1.5 Singular positions and handling ...................................................................................................27
2.2 3-axis and 4-axis transformations ................................................................................................29
2.3 Transformation with swivelled linear axis ....................................................................................31
2.4 Universal milling head..................................................................................................................37
2.4.1 Fundamentals of universal milling head ......................................................................................37
2.4.2 Parameterization ..........................................................................................................................39
2.4.3 Traverse of universal milling head in JOG mode.........................................................................41
2.5 Activation and application of 3-axis to 5-axis transformation.......................................................41
2.6 Generic 5-axis transformation and variants .................................................................................43
2.6.1 Functionality .................................................................................................................................43
2.6.2 Description of machine kinematics ..............................................................................................44
2.6.3 Generic orientation transformation variants.................................................................................45
2.6.4 Parameterization of orientable tool holder data ...........................................................................47
2.6.5 Extension of the generic transformation to 6 axes.......................................................................52
2.6.6 Cartesian manual travel with generic transformation...................................................................56
2.7 Restrictions for kinematics and interpolation ...............................................................................58
2.7.1 Singularities of orientation............................................................................................................59
2.8 Orientation....................................................................................................................................61
2.8.1 Basic orientation ..........................................................................................................................61
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0
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