Siemens SINUMERIK 840DE sl Commissioning Manual page 594

Technologies and cycles
21.7 Swiveling
Kinematics
Correct tool
Rotary axes
Rotary axis 1
Angular range
Rotary axis 2
Angular range
Example 2: Swivel head 2 "HEAD_2"
The vectors in the drawing refer to the initial setting of the kinematics. If the swivel head is
fixed-mounted, the vector chain is closed. The reference point of the center of rotation of rotary
axes 1 and 2 can be offset on the line of rotation and does not have to coincide with the
mechanical center of rotation.
Rotary axis vector V1
Rotary axis vector V2
Offset vector I1
Offset vector I2
Offset vector I3
Figure 21-8
Kinematics
Retract
Offset vector I1
580
Swivel head
No
C
0.000
A
-15.000
Rotary axis 1 rotates about Y.
Rotary axis 2 rotates about Y and about Z.
Closure of vector chain with fixed-mounted swivel head, I1 = - (I2 + I3).
The distance between the center of rotation of rotary axis 1 and center of
rotation of rotary axis 2
The distance between the reference point of the tool and the center of rotation
of rotary axis 2.
Cardanic swivel head with Hirth joint, manually adjustable
Swivel head
Z
X
0.000
Mode
Mode
Tool direction
Y
-172.000
Commissioning Manual, 12/2017, 6FC5397-1DP40-6BA1
HEAD_1
Manual
360.000
Manual
100.000
HEAD_2
Max.+inc.
Z
200.000
-265.800
SINUMERIK Operate (IM9)