Configuring cycles22.6 SwivelingSINUMERIK Operate (IM9)502 Commissioning Manual, 03/2013, 6FC5397-1DP40-3BA1Offset vectors I1 to I4 $TC_CARR1[n] ... $TC_CARR20[n]The vectors always contain three components, which represent the reference to the machineaxes (X, Y, Z). The positions in the kinematic chain are measured by the machinemanufacturer; they are always relevant with respect to a swivel head/swivel table (swiveldata 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. Ifmachine kinematics are to be implemented with just one rotary axis, this must always bedeclared as the 1st rotary axis.Manually adjustable rotary axes (manual mode) are possible with and without measuringsystems 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 pivotpoint/intersection of the 1st rotary axis● I1 closure of the I1=-(I2+I3) vector chain, if the swivel head cannot be changedSwivel table● I2 distance from the machine reference point to the pivot point/intersection of the 1strotary axis● I3 distance from the pivot point/intersection of the 1st rotary axis to the pivotpoint/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 changedSwivel 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 2ndrotary 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 importantthing is that they point to a point on the direction of rotation (intersection).
