Kinematics Swivel head HEAD_1
Correct tool No
Rotary axes
Rotary axis 1 C Mode Manual
Angular range 0.000 360.000
Rotary axis 2 A Mode Manual
Angular range -15.000 100.000
Example 2: Swivel head 2 "HEAD_2"
The vectors in the drawing refer to the initial setting of the kinematics. If the swivel head is
fixed-mounted, the vector chain is closed. The reference point of the center of rotation of rotary
axes 1 and 2 can be offset on the line of rotation and does not have to coincide with the
mechanical center of rotation.
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Rotary axis vector V1 Rotary axis 1 rotates about Y.
Rotary axis vector V2 Rotary axis 2 rotates about Y and about Z.
Offset vector I1 Closure of vector chain with fixed-mounted swivel head, I1 = - (I2 + I3).
Offset vector I2 The distance between the center of rotation of rotary axis 1 and center of
rotation of rotary axis 2
Offset vector I3 The distance between the reference point of the tool and the center of rotation
of rotary axis 2.
Figure 21-8 Cardanic swivel head with Hirth joint, manually adjustable
Kinematics Swivel head HEAD_2
Retract Z Tool direction Max.+inc.
X Y Z
200.000
Offset vector I1 0.000 -172.000 -265.800
Technologies and cycles
21.7 Swiveling
SINUMERIK Operate (IM9)
580 Commissioning Manual, 12/2017, 6FC5397-1DP40-6BA1
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