Siemens SINUMERIK 840DE sl Function Manual page 162

F2: Multi-axis transformations
3.4 Transformation with swiveled linear axis
Additional requirement:
● The first rotary axis (A) may only sweep a very small swivel range (swivel range << ± 90°).
Note
All the axis values used in the text relate to the designations of the example machine in the
following figure "Machine with swiveling linear axis Z"
Figure 3-14
Pole
The transformation with swiveling linear axis has a pole for a tool orientation parallel to the
second rotary axis (B). Singularity occurs in the pole position because the third linear axis (Z)
is parallel to the plane of the first two linear axes (X, Y), thus excluding the possibility of
compensating movements perpendicular to this plane.
Parameterization
Kinematic variants
The kinematic variant of the machine is set in the machine data:
MD24100, ... MD25190 $MC_TRAFO_TYP_n = <type>, with n = 1, 2, 3, ...
1st rotary axis
162
①
Linear axis 1 (X)
②
Linear axis 2 (Y)
③
Swiveling linear axis 3 (Z)
Example: Machine with swiveling linear axis Z
2nd rotary axis
A
A
B
B
Kinematics
swiveled linear axis
B
C
A
C
Z
Y
Z
X
Function Manual, 06/2019, A5E47435470B AA
<type>
Bits 6 - 0
10 00 000
10 00 001
10 00 010
10 00 011
Transformations