Siemens SINUMERIK 840D sl Commissioning Manual page 508

Configuring cycles
22.6 Swiveling
Offset vectors I1 to I4 $TC_CARR1[n] ... $TC_CARR20[n]
T he vectors always contain three components, which represent the reference to the machine
axes (X, Y, Z). The positions in the kinematic chain are measured by the machine
manufacturer; they are always relevant with respect to a swivel head/swivel table (swivel
data record).
Offset vectors I1 to I4 refer to the non-swiveled state of the rotary axes (basic setting:
machine kinematics). The machine kinematics used do not need to be fully implemented.
However, be aware that the traversing range in the swivel planes may be restricted. If
machine kinematics are to be implemented with just one rotary axis, this must always be
declared as the 1st rotary axis.
Manually adjustable rotary axes (manual mode) are possible with and without measuring
systems and can be used with "plain machines".
Swivel head
● I3 distance from the tool adapter to the pivot point/intersection of the 2nd rotary axis
● I2 distance from the pivot point/intersection of the 2nd rotary axis to the pivot
point/intersection of the 1st rotary axis
● I1 closure of the I1=-(I2+I3) vector chain, if the swivel head cannot be changed
Swivel table
● I2 distance from the machine reference point to the pivot point/intersection of the 1st
rotary axis
● I3 distance from the pivot point/intersection of the 1st rotary axis to the pivot
point/intersection of the 2nd rotary axis (or to the reference point of the tool adapter)
● I4 closure of the I4=-(I2+I3) vector chain, if the swivel table cannot be changed
Swivel head/swivel table (mixed kinematics)
● I2 distance from the tool adapter to the pivot point/intersection of the 1st rotary axis
● I1 closure of the I1=-I2 vector chain, if the swivel head cannot be changed.
● I3 distance from the machine reference point to the pivot point/intersection of the 2nd
rotary axis (or to the reference point of the tool adapter)
● I4 closure of the I4=-I3 vector chain, if the swivel table cannot be changed.
The offset vectors do not have to point to the pivot point of the rotary axes. The important
thing is that they point to a point on the direction of rotation (intersection).
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Commissioning Manual, 03/2013, 6FC5397-1DP40-3BA1
SINUMERIK Operate (IM9)