21.7.4 Examples of machine kinematics for the commissioning of the Swivel function
Example 1: Swivel head 1 "HEAD_1"
The vectors in the drawing refer to the initial setting of the kinematics. The drawing is not true
to scale. The swivel head is exchangeable and manually adjustable.
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C Rotary axis 1 (manual) rotates about Z.
A Rotary axis 2 (manual) rotates about X.
Figure 21-7 Exchangeable swivel head with steep taper to hold the spindle
Kinematics Swivel head HEAD_1
Retract Z
X Y Z
200.000
Offset vector I1 0.000 0.030 -63.000
Rotary axis vector V1 0.000 0.000 1.000
Offset vector I2 0.000 0.000 40.000
Rotary axis vector V2 1.000 0.000 0.000
Offset vector I3 0.000 -0.030 23.000
Display version
Swivel mode Axis-by-axis
Direction reference Rotary axis 2
Technologies and cycles
21.7 Swiveling
SINUMERIK Operate (IM9)
Commissioning Manual, 12/2017, 6FC5397-1DP40-6BA1 579
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