A name is assigned to every swivel data set: $TC_CARR34[n]
The name of the swivel data set may only contain characters that are permissible for NC
programming: A...Z, 0...9 and _ !
Offset vectors I1 to I4 $TC_CARR1[n] ... $TC_CARR20[n]
The vectors always contain three components which represent the reference to the machine
axes (X, Y, Z). The positions in the kinematic chain are measured by the machine
manufacturer; they are always
relevant with respect to a swivel head/swivel table (swivel data
record).
Offset vectors I1 to I4 refer to the non-swiveled state of the rotary axes (basic setting: machine
kinematics). The machine kinematics used do not need to be fully implemented. However, be
aware that the traversing range in the swivel planes may be restricted. If machine kinematics
are to be implemented with just one rotary axis, this must always be declared as the 1st rotary
axis.
The signs of the offset vectors and the rotary axis vectors are given by the definitions of the
axis directions according to ISO 841-2001 or DIN 66217 (right hand rule). In the case of
machine kinematics that move the workpiece (rotary table), the axis direction is reversed.
The offset vectors do not have to point to the pivot point of the rotary axes. The important thing
is that they point to a point on the direction of rotation (intersection).
Manually adjustable rotary axes (mode: manual) with and without measuring system are
possible and are used in "simple machines".
● Swivel head
I3 Distance from the toolholder to the point of rotation/intersection of the 2nd rotary axis
I2 Distance from the point of rotation/intersection of the 2nd rotary axis to the point of rotation/
intersection of the 1st rotary axis
I1 Closing of the vector chain: I1=-(I2+I3), if swivel head cannot be changed
● Swivel table
I2 Distance from the machine reference point to the point of rotation/intersection of the 1st
rotary axis
I3 Distance from the point of rotation/intersection of the 1st rotary axis to the point of rotation/
intersection of the 2nd rotary axis or to the reference point of the toolholder
I4 Closing of the vector chain: I4=-(I2+I3), if the swivel head cannot be changed
● Swivel head / swivel table (mixed kinematics)
I2 Distance from the toolholder to the point of rotation/intersection of the 1st rotary axis
I1 Closing of the vector chain: I1=-I2, if the swivel head cannot be changed.
I3 Distance from the machine reference point to the point of rotation/intersection of the 2nd
rotary axis or to the reference point of the toolholder
I4 Closing of the vector chain: I4=-I3, if the swivel head cannot be changed.
Fine offset of the offset vectors:
Configuring cycles
7.7 Swiveling
SINUMERIK Operate
144 Commissioning Manual, 10/2015, 6FC5397-3DP40-5BA3
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