Siemens SINUMERIK 840D sl Commissioning Manual page 518

Configuring cycles
22.6 Swiveling
The reference point of the pivot point of rotary axes 1 and 2 can be offset on the line of
rotation and does not have to coincide with the mechanical pivot point.
1)
Example 3: Cardanic table "TABLE_45"
Vectors relate to the basic setting of the kinematics
Rotary axis vector V1: Rotary axis B rotates around Y and
Rotary axis vector V2 Rotary axis C rotates around Z.
Offset vector I2:
Offset vector I3:
Offset vector I4:
Side view of the
machine
Spindle (tool adapter)
is positioned on a
block dimension
above the top edge of
the table (rotary axis
C) or the center of the
table.
A measuring rod in
the spindle is used to
determine the turning
center of rotary axis
C.
512
Calculation of rotary axis vector V2: 45 degree angle
V2Y= sin(45)= 0.7071
V2z= cos(45)= 0.7071
V2Y and V2z can be normalized to 1.
around Z.
Distance from the reference point of
the machine to the pivot
point/intersection of rotary axis 1
Distance between pivot
point/intersection of rotary axis 1 and
pivot point/intersection of rotary axis 2
Closure of vector chain I4=-(I2+I3)
Commissioning Manual, 03/2013, 6FC5397-1DP40-3BA1
SINUMERIK Operate (IM9)