14.7.1.2 Kinematic rotation and parallel kinematic rotation
You can define fixed rotation of a subsequent element in the "Rotation" window.
Display in the tree topology
Kinematic rotations are identified by this symbol in the tree topology.
Element values
Parameter Meaning
Name Designation, which is displayed in the tree structure.
Rotary axis (X) X component of the vector, around which the system rotates.
Rotary axis (Y) Y component of the vector, around which the system rotates.
Rotary axis (Z) Z component of the vector, around which the system rotates.
Angle of rotation Angle, around which the system rotates in the direction of the rotation
vector.
See also
Creating a kinematic chain element (Page 299)
14.7.1.3 Linear axis and parallel linear axis
You define the position and orientation of the axes, whose traversing motion describes a
straight line, in the "Linear axis" window.
Display in the tree topology
Dynamic linear axes are identified by this symbol in the tree topology.
Element values
Parameter Meaning
Name Designation, which is displayed in the tree structure.
Axis (X) X component of the direction vector
Axis (Y) Y component of the direction vector
Axis (Z) Z component of the direction vector
Axis name Specification of the axis identifier (see MD 10000)
Axis offset Additive offset between the actual position of the axis, and the value
used by the collision monitoring.
See also
Creating a kinematic chain element (Page 299)
Collision avoidance
14.7 Creating a kinematic structure
SINUMERIK Operate (IM9)
Commissioning Manual, 12/2017, 6FC5397-1DP40-6BA1 301
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