5-Axis Transformation; Kinematic Transformation; Machine Types For 5-Axis Transformation - Siemens SINUMERIK 840D sl Function Manual

F2: Multi-axis transformations

1.2 5-axis transformation

1.2 5-axis transformation
1.2.1

Kinematic transformation

Task of orientation transformation
The task of orientation transformation is to compensate movements of the tool nose, which
result from changes in orientation, by means of appropriate compensating movements of the
geometry axes. The orientation movement is therefore decoupled from the movement on the
workpiece contour. Various machine kinematics each require their own orientation
transformation.
Fields of application
The "5-axis transformation" machining package is provided for machine tools, which have two
additional rotary axes (rotation about the linear axes) in addition to three linear axes X, Y and
Z: This package thus allows an axially symmetrical tool (milling cutter, laser beam) to be
oriented in any desired relation to the workpiece in every point of the machining space.
The workpiece is always programmed in the rectangular workpiece coordinate system; any
programmed or set frames rotate and shift this system in relation to the basic system. The
kinematic transformation then converts this information into motion commands of the real
machine axes.
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.
1.2.2

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.
Example:
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-
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3. Rotary axes are positioned vertically one above the other.
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A parallel to X
B parallel to Y
C parallel to Z
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions