Siemens SINUMERIK 840D sl Function Manual page 105

Figure 2-31
Vectors, which describe offsets in the rotary table, are positive in the direction from the machine
reference point to the table.
The following kinematic type is defined for machines with a rotary workpiece:
$TC_CARR23 using letter P
Note
On machines with rotary workpiece it is generally useful if the selected machine reference point
and the reference point of the table are identical. Selecting the reference points in this way has
the advantage that the position of the workpiece zero in the initial state (i.e. with rotary axes not
turned) does not change when the rotary table is activated. The (open) kinematic chain (see
figure) is then closed.
In this special case, therefore, the following formula applies: l
Machines with extended kinematics
On machines with extended kinematics (both tool and workpiece are rotary), it is only possible
to turn each of the components with one axis.
The kinematic of the rotary tool is described with the first rotary axis (v
and l
two kinematic chain components for machines with rotary tool and rotary workpiece are shown
in the figure below.
Tools
Function Manual, 06/2019, A5E47435126B AA
Kinematic chain to describe a rotary table
, that of the rotary table with the second rotary axis (v
2
2.8 Tool carriers with orientation capability
= - (l + l )
2 3 4
) and the two vectors l
1
) and the two vectors l
2
W1: Tool offset
1
and l . The
3 4
105