Siemens SINUMERIK 840D sl Function Manual page 55

● The first rotary axis (A) is moved by two Cartesian linear axes. It rotates the third linear axis
(Z) that moves the tool.
● The tool is aligned parallel to the third linear axis (Z).
● The second rotary axis (B) rotates the workpiece.
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 2-14
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:
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Example: Machine with swiveling linear axis Z
F2: Multi-axis transformations
2.4 Transformation with swiveled linear axis
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