Siemens SINUMERIK 840DE sl Commissioning Manual page 586

Technologies and cycles
21.7 Swiveling
In the case of machine kinematics that move the workpiece (rotary table), the axis direction is
reversed.
Note
Interrelation of TOOLCARRIER ⇔ 5-axis transformation (transformer type 24, 40, 56):
For 5-axis transformation, transformer type 72 in MD24100: $MC_TRAFO_TYPE_1 can be
used.
In the case of transformer type 72, the vectors of the TOOLCARRIER in MD24582:
$MC_TRAFO5_TCARR_NO_1 are used.
Swivel head (swivel-mounted tool)
$TC_CARR23[n]="T"
I1
I2
I3
Closure of the I1=-(I2+I3) vector chain; for fixed-mounted machine kinematics
Swivel table (swivel-mounted workpiece)
$TC_CARR23[n]="P"
I2
I3
I4
Closure of the I4=-(I2+I3) vector chain; for fixed-mounted machine kinematics
Swivel head + swivel table (swivel-mounted tool + workpiece)
$TC_CARR23[n]="M"
I1
I2
I3
I4
Closure of the I1=-I2 I4=-I3 vector chain; for fixed-mounted machine kinematics
Rotary axis vectors V1, V2
V1
V2
Fine offsets of offset vectors
$TC_CARR41[n]
572
$TC_CARR1...3[n]
$TC_CARR4...6[n]
$TC_CARR15...17[n]
$TC_CARR4...6[n]
$TC_CARR15...17[n]
$TC_CARR18...20[n]
$TC_CARR1...3[n]
$TC_CARR4...6[n]
$TC_CARR15...17[n]
$TC_CARR18...20[n]
$TC_CARR7..9[n]
$TC_CARR10..12[n]
MD24100: $MC_TRAFO_TYPE_1=24
MD24500: $MC_TRAFO5_PART_OFFSET_1 [0...2]
MD24560: $MC_TRAFO5_JOINT_OFFSET_1 [0...2]
MD24550: $MC_TRAFO5_BASE_TOOL_1 [0...2]
MD24100: $MC_TRAFO_TYPE_1=40
MD24550: $MC_TRAFO5_BASE_TOOL_1 [0..2]
MD24558: $MC_TRAFO5_JOINT_OFFSET_1 [0...2]
MD24500: $MC_TRAFO5_PART_OFFSET_1 [0...2]
MD24100: $MC_TRAFO_TYPE_1=56
MD24560: $MC_TRAFO5_JOINT_OFFSET_1 [0...2]
MD24550: $MC_TRAFO5_BASE_TOOL_1 [0...2]
MD24558: $MC_TRAFO5_JOINT_OFF‐
SET_PART_1[0...2]
MD24500: $MC_TRAFO5_PART_OFFSET_1 [0...2]
MD24570: $MC_TRAFO5_AXIS1_1[0..2]
MD24572: $MC_TRAFO5_AXIS2_1[0..2]
to $TC_CARR60[n]
Commissioning Manual, 12/2017, 6FC5397-1DP40-6BA1
SINUMERIK Operate (IM9)