Siemens SINUMERIK 840D sl Programming Manual page 217

Measuring kinematics
Starting from the kinematics initial state, the relevant rotary axes are measured individually.
● Rotary axes 1 or 2 can be measured in any order. If the machine kinematics only have one
rotary axis, this is measured as rotary axis 1.
● The basic data for the kinematics is always the data of the tool carrier with orientation
capability. If a dynamic 5-axis transformation is to be supported, it is preferable to use
transformation type 72 (vectors from TCARR data).
● The linear and rotary axes must be prepositioned at starting positions P1 to P3 before
measuring cycle CYCLE996 is called in the NC program. The starting position is
automatically accepted in
function.
● In each of the sphere (rotary axis) positions selected, measuring is performed in accordance
with the parameters and by calling
● The kinematics are calculated using a separate, parameterized call of
● When the 3rd measurement has been completed, the results of the measurement and the
CYCLE996 setting "Calculate kinematics" are written to the _OVR[ ] result parameters.
When the "Enter vectors" function is selected (refer to S_MVAR, S_TC), then data is output
to the swivel data set that has been set-up (TCARR, TRAORI(1)).
● A protocol file with the measurement results in an appropriate data format (machine data
or TCARR data) can be optionally output.
Note
Requirements for measuring the kinematics with active TRAORI or active TCARR
● Set SD 55740: $SCS:MEA_FUNCTION_MASK, bit8 = 1
● Data set (swivel data or machine data) of the kinematics must be roughly set up (±1 mm).
● The probe must be positioned perpendicular on the measuring plane at the individual
measuring points of the rotary axes. This can be performed with the swivel function
(CYCLE800) or by positioning the rotary axes with TRAORI and then TOROT (for G17).
● If very small values are entered in the XYZ components of the rotary axis vectors (V1, V2),
the kinematics should always be measured with active TCARR or active TRAORI.
Input screen forms "kinematics"
CYCLE996 has to be called three times in order to complete the entire measuring and vector
calculation process for one rotary axis. Between cycle calls, the user must reposition the rotary
axis to be measured. Any rotary axis that is not being measured must not be repositioned
during the measurement procedure. The linear axes are positioned at the starting positions
P1, P2, P3.
The 1st to 3rd measurements are called using the respective softkeys.
At the end of the 3rd measurement, the vectors of the measured rotary axis are calculated at
the call. The requirement for this is that the 1st to 3rd measurements have been performed for
the respective rotary axis and that the corresponding measurement results (center points of
the calibration the calibration sphere) have been saved. The vectors of the machine kinematics
are then calculated in full when both rotary axes have been measured. The measurement
counter, parameter _OVR[40], is displayed in the result bit or in the protocol.
Measuring cycles
Programming Manual, 12/2017, 6FC5398-4BP40-6BA1
CYCLE996 as the position setpoint for the "Measure sphere"
CYCLE996 .
Measuring variants
3.3 Measure workpiece (milling)
CYCLE996 .
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