Siemens SINUMERIK 840DE sl Commissioning Manual page 314

Collision avoidance
14.7 Creating a kinematic structure
World coordinate system
To uniquely describe the kinematic structure of a machine, all elements of the kinematic chain
are referred to the world coordinate system.
You have the option of freely selecting the origin and orientation of the world coordinate system.
However, it is recommended that you orientate the world coordinate system so that the
coordinate axes are arranged in the positive traversing direction of the machine linear main
axes.
Requirement
● The option is set.
● The machine data is set.
Procedure
Defining a ROOT element
Attaching additional kinematic elements
See also
Kinematic rotation and parallel kinematic rotation (Page 301)
Linear axis and parallel linear axis (Page 301)
Rotary axis and parallel rotary axis (Page 302)
Offset and parallel offset (Page 302)
Switch and parallel switch (Page 303)
300
1. Machine data 16800 $MN_ROOT_KIN_ELEM_NAME contains the name
of the ROOT element. This defines the start of the kinematic chain.
All subsequent, parameterized elements and subchains that are connec‐
ted with this element are part of the currently effective kinematic chain.
2. Switch to the graphic machine model editor.
3. Position the cursor to the "Active data" folder and press the "New element"
and "Kinematic element" softkeys.
The "New kinematic element" selection window opens.
4. For example, select the "Offset" element and press the "OK" softkey.
The "Offset" window opens to define the shift vector.
The first element of the kinematic chain can be an offset, a rotation, a
linear axis or also a rotation axis.
5. Press the "OK" softkey to insert the element.
Depending on your machine, you can attach any number of elements or
branch off subchains.
Commissioning Manual, 12/2017, 6FC5397-1DP40-6BA1
SINUMERIK Operate (IM9)