21.7.3 Commissioning swivel data (machine kinematics)
Defining a swivel data set
You must create a swivel data set for every swivel head, swivel table or each combination of
both.
Swivel data sets can be declared in several channels.
A swivel data set comprises the parameters $TC_CARR1[n] to $TC_CARR65[n]
n = number of the swivel data set.
The parameters of the swivel data set ($TC_CARR1[n] to $TC_CARR65[n]) can be read-in
and read-out in the startup operating area. Programming with appropriate value assignment
is also possible in an NC program (manufacturer cycle). The parameters of the swivel data set
are immediately effective after the program has started.
The following softkeys are assigned to the Swivel function in the "Program" → "Various"
operating area:
Milling technology Turning technology
"Swivel plane" "Swivel plane"
"Advance milling tool" "Swivel tool" → "Align turning tool"
→ "Align milling tool"
→ "Advance milling tool"
The "Align turning tool" and "Align milling tool" softkeys are only displayed if the "B-axis
kinematics" function has been activated via $TC_CARR37[n].
Offset vectors I1 to I4
The 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
set). Offset vectors I1 to I4 refer to the non-swiveled state of the rotary axes (machine
kinematics basic setting).
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.
$TC_CARR1[n], $TC_CARR2[n], $TC_CARR3[n] Offset vector I1xyz
$TC_CARR4[n], $TC_CARR5[n], $TC_CARR6[n] Offset vector I2xyz
$TC_CARR15[n], $TC_CARR16[n], $TC_CARR17[n] Offset vector I3xyz
$TC_CARR18[n], $TC_CARR19[n], $TC_CARR20[n] Offset vector I4xyz
Rotary axis vectors V1 and V2
$TC_CARR7[n], $TC_CARR8[n], $TC_CARR9[n] Rotary axis vector V1xyz
$TC_CARR10[n], $TC_CARR11[n], $TC_CARR12[n] Rotary axis vector V2xyz
Technologies and cycles
21.7 Swiveling
SINUMERIK Operate (IM9)
568 Commissioning Manual, 12/2017, 6FC5397-1DP40-6BA1
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