Table Of Contents - Siemens SINUMERIK 840D sl Function Manual

Table of contents

Preface.........................................................................................................................................................3
1 F2: Multi-axis transformations ...................................................................................................................23
1.1 Brief description......................................................................................................................... 23
1.1.1 5-axis Transformation ................................................................................................................ 23
1.1.2 3-axis and 4-axis transformation ............................................................................................... 25
1.1.3 Orientation transformation with a swivelling linear axis. ............................................................ 26
1.1.4 Universal milling head ............................................................................................................... 28
1.1.5 Orientation axes ........................................................................................................................ 29
1.1.6 Cartesian manual travel ............................................................................................................. 30
1.1.7 Cartesian PTP travel ................................................................................................................. 30
1.1.8 Generic 5-axis transformation ................................................................................................... 30
1.1.9 Online tool length offset ............................................................................................................. 31
1.1.10 Activation via parts/program/softkey .......................................................................................... 31
1.1.11 Orientation compression ............................................................................................................ 31
1.2 5-axis transformation ................................................................................................................. 32
1.2.1 Kinematic transformation ........................................................................................................... 32
1.2.2 Machine types for 5-axis transformation .................................................................................... 32
1.2.3 Configuration of a machine for 5-axis transformation ................................................................ 34
1.2.4 Tool orientation .......................................................................................................................... 38
1.2.5 Singular positions and handling ................................................................................................. 43
1.3 3-axis and 4-axis transformations.............................................................................................. 46
1.4 Transformation with swivelled linear axis .................................................................................. 48
1.5 Universal milling head ............................................................................................................... 54
1.5.1 Fundamentals of universal milling head .................................................................................... 54
1.5.2 Parameterization ....................................................................................................................... 56
1.5.3 Traverse of universal milling head in JOG mode ....................................................................... 58
1.6 Activation and application of 3-axis to 5-axis transformation..................................................... 59
1.7 Generic 5-axis transformation and variants............................................................................... 61
1.7.1 Functionality .............................................................................................................................. 61
1.7.2 Description of machine kinematics ............................................................................................ 62
1.7.3 Generic orientation transformation variants ............................................................................... 63
1.7.4 Parameterization of orientable tool holder data ......................................................................... 65
1.7.5 Extension of the generic transformation to 6 axes .................................................................... 69
1.7.6 Extension of the generic transformation to 7 axes .................................................................... 72
1.7.7 Cartesian manual travel with generic transformation ................................................................ 77
1.8 Restrictions for kinematics and interpolation ............................................................................. 80
1.8.1 Singularities of orientation ......................................................................................................... 80
1.9 Orientation ................................................................................................................................. 83
1.9.1 Basic orientation ........................................................................................................................ 83
1.9.2 Orientation movements with axis limits ..................................................................................... 85
1.9.3 Orientation compression ............................................................................................................ 86
1.9.4 Smoothing of orientation characteristic ..................................................................................... 90
Special Functions
Function Manual 09/2011, 6FC5397-2BP40-2BA0
7