14.7 Creating a kinematic structure.............................................................................................299
14.7.1 Kinematic elements..............................................................................................................299
14.7.1.1 Creating a kinematic chain element.....................................................................................299
14.7.1.2 Kinematic rotation and parallel kinematic rotation................................................................301
14.7.1.3 Linear axis and parallel linear axis.......................................................................................301
14.7.1.4 Rotary axis and parallel rotary axis......................................................................................302
14.7.1.5 Offset and parallel offset......................................................................................................302
14.7.1.6 Switch and parallel switch....................................................................................................303
14.7.2 Protection areas...................................................................................................................303
14.7.2.1 Creating protection areas.....................................................................................................303
14.7.2.2 Tool protection area ............................................................................................................304
14.7.2.3 Machine protection area.......................................................................................................305
14.7.3 Protection area elements.....................................................................................................306
14.7.3.1 Creating protection area elements.......................................................................................306
14.7.3.2 Frame and parallel frame protection area element..............................................................308
14.7.3.3 Box and parallel box protection area elements....................................................................309
14.7.3.4 Sphere and parallel sphere protection area elements.........................................................311
14.7.3.5 Cylinder and parallel cylinder protection area element........................................................312
14.7.3.6 Protection area element cone and parallel cone..................................................................314
14.7.3.7 File and parallel 3D file protection area element..................................................................316
14.7.4 Collision pair.........................................................................................................................318
14.7.4.1 Creating a collision pair........................................................................................................318
14.7.4.2 Collision pair.........................................................................................................................319
14.7.5 Supplementary condition......................................................................................................320
14.8 Collision avoidance example................................................................................................320
14.8.1 Fundamentals......................................................................................................................320
14.8.2 Create machine model example..........................................................................................323
14.8.2.1 Creating kinematic elements................................................................................................323
14.8.2.2 Creating machine protection areas......................................................................................325
14.8.2.3 Creating a tool protection area.............................................................................................328
14.8.2.4 Creating collision pairs.........................................................................................................329
15 Transformations........................................................................................................................................331
15.1 Activate commissioning screen for transformations.............................................................331
15.2 Function overview of the commissioning screen for transformations...................................331
15.3 Assigning and editing transformations.................................................................................333
15.4 Assigning and editing tool carriers.......................................................................................334
15.5 Copying/pasting or deleting transformations........................................................................336
15.6 Selecting element from chain...............................................................................................337
15.7 Assigning parameters to transformation types and tool carriers..........................................338
15.7.1 TRAORI_DYN......................................................................................................................338
15.7.2 TRAORI_STAT for turning...................................................................................................340
15.7.3 TRANSMIT_K.......................................................................................................................343
15.7.4 TRACYL_K...........................................................................................................................345
15.7.5 TRAANG_K..........................................................................................................................347
15.7.6 TOOLCARR (chain).............................................................................................................349
15.7.7 TOOLCARR (conventional)..................................................................................................351
Table of contents
SINUMERIK Operate (IM9)
10 Commissioning Manual, 12/2017, 6FC5397-1DP40-6BA1
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