Siemens SINUMERIK 840D sl Commissioning Manual page 516

Configuring cycles
22.6 Swiveling
Table 22- 1
Kinematics
Retract
Offset vector I1
Rotary axis vector V1
Offset vector I2
Rotary axis vector V2
Offset vector I3
Display version
Swivel mode
Direction reference
Correct tool
Rotary axes
Rotary axis 1
Angular range
Rotary axis 2
Angular range
Example 2: Swivel head 2 "HEAD_2"
Rotary axis vector V1:
Rotary axis vector V2:
Offset vector I1:
Offset vector I2:
Offset vector I3:
Cardanic swivel head (manually adjustable) with Hirth tooth system
Vectors relate to the basic setting of the kinematics
If the swivel head is fixed-mounted, the vector chain is closed (see l1)
510
Commissioning softkey "Swivel", Kinematics (Example 1)
Swivel head
Z
X
0.000
0.000
0.000
1.000
0.000
Axis-by-axis
Rotary axis 2
No
C
0.000
A
-15.000
Rotary axis B rotates around Y
Rotary axis C rotates around Y and around Z
Closure of vector chain with fixed-mounted swivel head
I1=-(I2+I3)
Distance between pivot point of rotary axis 1 and pivot point of
rotary axis 2
Distance between reference point of tool and pivot point of rotary
axis 2
Y
0.030
0.000
0.000
0.000
-0.030
Mode
Mode
Commissioning Manual, 03/2013, 6FC5397-1DP40-3BA1
HEAD_1
Z
200.000
-63.000
1.000
40.000
0.000
23.000
Manual
360.000
Manual
100.000
SINUMERIK Operate (IM9)