Siemens SINUMERIK 840D sl Commissioning Manual page 509
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The sign of the offset vectors (I1 to I4) and the rotary axis vectors (V1, V2) result from the
specifications of the axis directions according to ISO 841-2001 or DIN 66217 (right-hand
rule). In the case of machine kinematics that move the workpiece (rotary table), the axis
direction is reversed.
Note
Interrelation of TOOLCARRIER ⇔ 5-axis transformation (transformer type 24, 40, 56):
For 5-axis transformation, transformer type 72 in MD24100: $MC_TRAFO_TYPE_1 can be
used.
In the case of transformer type 72, the vectors of the TOOLCARRIER in MD24582:
$MC_TRAFO5_TCARR_NO_1 are used.
Swivel head (swivel-mounted tool)
$TC_CARR23[1]="T"
I1
$TC_CARR1...3[n]
I2
$TC_CARR4...6[n]
I3
$TC_CARR15...17[n]
Closure of the I1=-(I2+I3) vector chain; for fixed-mounted machine kinematics
Swivel table (swivel-mounted workpiece)
$TC_CARR23[1]="P"
I2
$TC_CARR4...6[n]
I3
$TC_CARR15...17[n]
I4
$TC_CARR18...20[n]
Closure of the I4=-(I2+I3) vector chain; for fixed-mounted machine kinematics
Swivel head + swivel table (swivel-mounted tool + workpiece)
$TC_CARR23[1]="M"
I1
$TC_CARR1...3[n]
I2
$TC_CARR4...6[n]
I3
$TC_CARR15...17[n]
I4
$TC_CARR18...20[n]
Closure of the I1=-I2 I4=-I3 vector chain; for fixed-mounted machine kinematics
Rotary axis vectors V1, V2
V1
$TC_CARR7..9[n]
V2
$TC_CARR10..12[n]
SINUMERIK Operate (IM9)
Commissioning Manual, 03/2013, 6FC5397-1DP40-3BA1
MD24100: $MC_TRAFO_TYPE_1=24
MD24500: $MC_TRAFO5_PART_OFFSET_1[0...2]
MD24560: $MC_TRAFO5_JOINT_OFFSET_1[0...2]
MD24550: $MC_TRAFO5_BASE_TOOL_1 [0...2]
MD24100: $MC_TRAFO_TYPE_1=40
MD24550: $MC_TRAFO5_BASE_TOOL_1 [0..2]
MD24558: $MC_TRAFO5_JOINT_OFFSET_1 [0...2]
MD24500: $MC_TRAFO5_PART_OFFSET_1 [0...2]
MD24100: $MC_TRAFO_TYPE_1=56
MD24560: $MC_TRAFO5_JOINT_OFFSET_1 [0...2]
MD24550: $MC_TRAFO5_BASE_TOOL_1 [0...2]
MD24558: $MC_TRAFO5_JOINT_OFFSET_PART_1[0...2]
MD24500: $MC_TRAFO5_PART_OFFSET_1 [0...2]
MD24570: $MC_TRAFO5_AXIS1_1[0..2]
MD24572: $MC_TRAFO5_AXIS2_1[0..2]
Configuring cycles
22.6 Swiveling
503
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