Creating A Kinematic Structure - Siemens SINUMERIK 840D sl Commissioning Manual

14.7

Creating a kinematic structure

14.7.1 Kinematic elements
14.7.1.1 Creating a kinematic chain element
An exact kinematic description of the machine is required in order to be able to detect
collisions.
To do this, you describe the kinematic sequence of the linear and rotary axes as well as the
position and direction in relationship to the world coordinate system (ROOT). This informs
the control, for example, whether the Y axis is moved by the X axis or vice versa.
Kinematic elements
The following elements are available to create the kinematic chain:
● Rotation and parallel rotation
● Linear axis and parallel linear axis
● Rotary axis and parallel rotary axis
● Offset and parallel offset
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.
Precondition
● The option is set.
● The machine data are set.
SINUMERIK Operate (IM9)
Commissioning Manual, 03/2013, 6FC5397-1DP40-3BA1
Collision avoidance
14.7 Creating a kinematic structure
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