Orientation Transformation With A Swivelling Linear Axis - Siemens SINUMERIK 840D sl Function Manual

F2: Multi-axis transformations
1.1 Brief description
Figure 1-2
1.1.3

Orientation transformation with a swivelling linear axis.

Function
The orientation transformation with swivelling linear axis is similar to the 5-axis transformation
of Machine Type 3, though the 3rd linear axis is not always perpendicular to the plane defined
by the other two linear axes.
Features of kinematics
• Kinematics with three linear axes and two orthogonal rotary axes.
• Rotary axes are parallel to two of the three linear axes.
• The first rotary axis is moved by two Cartesian linear axes. It rotates the third linear axis,
which moves the tool. The tool is aligned parallel to the third linear axis.
• The second rotary axis rotates the workpiece.
• The kinematics comprise a moved workpiece and a moved tool.
The following figure shows the interrelations for one of the possible axis sequences, for which
transformation is possible.
26
Schematic diagram of a 4-axis transformation with moveable workpiece
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions