Kinematic Rotation And Parallel Kinematic Rotation - Siemens SINUMERIK 840D sl Commissioning Manual

Collision avoidance
14.7 Creating a kinematic structure
Procedure
Defining a ROOT element
Attaching additional kinematic elements
See also
Kinematic rotation and parallel kinematic rotation (Page 246)
Linear axis and parallel linear axis (Page 247)
Rotary axis and parallel rotary axis (Page 247)
Offset and parallel offset (Page 248)
14.7.1.2

Kinematic rotation and parallel kinematic rotation

You can define fixed rotation of a subsequent element in the "Rotation" window.
Display in the tree topology
246
1. Machine data 16800 $MN_ROOT_KIN_ELEM_NAME contains the
name of the ROOT element. This defines the start of the kinematic
chain.
All subsequent, parameterized elements and subchains that are
connected with this element are part of the currently effective kinematic
chain.
2. Switch to the graphic machine model editor.
3. Position the cursor to the "Active data" folder and press the "New
element" and "Kinematic element" softkeys.
The "New kinematic element" selection window opens.
4. For example, select the "Offset" element and press the "OK" softkey.
The "Offset" window is opened to define the shift vector.
The first element of the kinematic chain can be an offset, a rotation, a
linear axis or also a rotation axis.
5. Press the "OK" softkey to insert the element.
Depending on your machine, you can attach any number of elements or
branch off subchains.
Kinematic rotations are identified by this symbol in the tree topology.
Commissioning Manual, 03/2013, 6FC5397-1DP40-3BA1
SINUMERIK Operate (IM9)