DMG DMU-P Series Swivel Head multi-axis machine tool
Rotary 5 axes Examples
1/ Five axes table unit
4/ Five axes 45deg, Swivel Head ( DMG - DMU*P Series )
5/ Five axes 45deg, Swivel Table ( DMG - DMU*V Series ) Configuration Parameters
1/ Five axes table unit
Azimuth Tilt table (A) rotating about X axis, Elevation table (C) rotating about Z axis, when (A) zero is aligned with Z axis define word M5 address letter = “M” address width = 1 field width = 2 modal end define define word M6 address letter = “M” address width = 1 field width = 2 modal end define
define format ( A B C ) ## A is not specifically defined correctly in the source code. field width = 8
modal
metric formats
decimal point = true decimal places = 3
trailing zeros = false leading zeros = false imperial formats decimal point = true decimal places = 4
trailing zeros = false leading zeros = false end define word order = ( + A C ) define keys azimuth axis = A elevation axis = C end define define codes
# elevation clamping codes ## These are dealt with elsewhere ( See Clamping ) clamp on = M5 11
clamp off = M5 12 # azimuth clamping codes azimuth clamp on = M6 21 azimuth clamp off = M6 22 end define
spindle azimuth rotation = false
azimuth axis units = degrees
azimuth axis direction = positive
azimuth axis parameters = ( 0.0 0.0 0.0 1 0 0 ) ## RTC zero. See notes-1 below ( Type A ) or
azimuth axis parameters = ( 0.0 0.0 55.0 1 0 0 ) ## RTC 55mm above zero. See notes below ( Type B )
or
azimuth axis parameters = ( 0.0 0.0 -55.0 1 0 0 ) ## RTC -55mm below zero. See notes below ( Type C )
spindle elevation rotation = false
elevation axis units = degrees
elevation axis direction = positive
elevation axis parameters = ( 0.0 0.0 0.0 0 0 1 )
linear axis limits = ( -1750.0 1200.0 -875.0 875.0 -250.0 250.0 ) rotary axis limits = (-95.0 35.0 -3600.0 3600.0 0.01 1 )
initial tool vector = ( 0 0 1 ) ## Spindle Alignment with Z axis. default workplane angles = none ## See notes-6 below
multiaxis coordinate transform = true linearise multiaxis moves = true
retract at angular limit = true ## Default = false
withdrawal amount = 100.0 integer 3 = 1 define block move rapid
N ; rapid ; G6 ; x coord ; y coord ; z coord ; azimuth axis ; elevation axis ; S ; H ; M1 ; M2 end define
define block move linear
N ; linear ; G2 ; x coord ; y coord ; z coord ; azimuth axis ; elevation axis ; tool radius ; feedrate ; M1 ; M2 end define
## This is the minimum requirement, it could well require additional embellishment to meet certain functions.
## It is not essential to have the rotary axes in the Rapid block as it isn’t used for multi axis working. NOTE : For Heidenhain use G1 in place of “ rapid ” and “ linear ”, leave out G2, and us RR instead of “ tool radius ”
( Return to TOP ) 2/ Five axes combination head and table
Swivel tool spindle (B) rotating about Y, table C rotating about Z when B is zero ( vertical) define format ( A B C )
field width = 8 modal
decimal point = true decimal places = 3
trailing zeros = false leading zeros = false imperial formats decimal point = true decimal places = 4
trailing zeros = false leading zeros = false end define word order = ( + B C ) define keys azimuth axis = B elevation axis = C end define
spindle azimuth rotation = true azimuth axis units = degrees
azimuth axis direction = positive
azimuth centre = ( 0.0 0.0 185.56 ) ## See notes-2 below azimuth axis parameters = ( 0.0 0.0 0.0 0 1 0 )
spindle elevation rotation = false
elevation axis units = degrees
elevation axis direction = positive
elevation centre = ( 0.0 0.0 0.0 )
elevation axis parameters = ( 0.0 0.0 0.0 0 0 1 )
linear axis limits = ( -1750 0 1200.0 -875.0 875.0 -250.0 250.0 ) rotary axis limits = ( -110.0 110.0 -3600.0 3600.0 0.01 1 )
initial tool vector = ( 0 0 1 ) ## Spindle Alignment with Z axis. default workplane angles = none ## See notes-6 below
multiaxis coordinate transform = true
linearise multiaxis moves = true
minimise multiaxis retraction = true
retract at angular limit = true ## Default = false
withdrawal amount = 100.0 integer 3 = 1 define block move rapid
N ; G1 ; G6 ; x coord ; y coord ; z coord ; azimuth axis ; elevation axis ; S ; H ; M1 ; M2 end define
define block move linear
N ; G1 ; G2 ; x coord ; y coord ; z coord ; azimuth axis ; elevation axis ; tool radius ; feedrate ; M1 ; M2 end define
## This is the minimum requirement, it could well require additional embellishment to meet certain functions.
## It is not essential to have the rotary axes in the Rapid block as it isn’t used for multi axis working. NOTE : For Heidenhain use G1 in place of “ rapid ” and “ linear ”, leave out G2, and us RR instead of “ tool radius ”
( Return to TOP ) 3/ Five axes Spindle Head
Rotary head (C) rotating about Z, Swivle tool (B) rotating about Y, when (C) is zero aligned with Y axis define format ( A BC )
field width = 8 modal
metric formats
decimal point = true decimal places = 3 trailing zeros = false leading zeros = false imperial formats decimal point = true decimal places = 4 trailing zeros = false leading zeros = false end define word order = ( + B C ) define keys azimuth axis = C elevation axis = B end define
spindle azimuth rotation = true azimuth axis units = degrees azimuth axis direction = positive azimuth centre = ( 0.0 0.0 0.0 )
azimuth axis parameters = ( 0.0 0.0 0.0 0 0 1 ) spindle elevation rotation = true
elevation axis units = degrees elevation axis direction = positive
elevation centre = ( 0.0 0.0 193.25 ) ## See notes-3 below elevation axis parameters = ( 0.0 0.0 0.0 0 1 0 )
linear axis limits = ( -1750 0 1200.0 -875.0 875.0 -250.0 250.0 ) rotary axis limits = ( -200.0 320.0 -100.0 100.0 0.1 1 )
initial tool vector = ( 0 0 1 ) ## Spindle Alignment with Z axis. default workplane angles = none ## See notes-6 below
multiaxis coordinate transform = true
linearise multiaxis moves = true or false
retract at angular limit = true ## Default = false
minimise multiaxis retraction = true withdrawal amount = 100.0 integer 3 = 1 define block move rapid
N ; rapid ; G6 ; x coord ; y coord ; z coord ; azimuth axis ; elevation axis ; S ; H ; M1 ; M2 end define
define block move linear
N ; linear ; G2 ; x coord ; y coord ; z coord ; azimuth axis ; elevation axis ; tool radius ; feedrate ; M1 ; M2 end define
## This is the minimum requirement, it could well require additional embellishment to meet certain functions.
## It is not essential to have the rotary axes in the Rapid block as it isn’t used for multi axis working. NOTE : For Heidenhain use G1 in place of “ rapid ” and “ linear ”, leave out G2, and us RR instead of “ tool radius ”
( Return to TOP ) 4/ Five axes 45deg, Swivel Head / Rotary Table ( DMG - DMU*P Series ) [ see DMG Animation ]
Swivel head (B) rotating 45 degrees about ZY axes, Elevation Table (C) rotating about Z when (B) is zero ( Head Vertical ).
( These machines usually have Heidenhain controls - with Siemens or MillPLUS as an alternative ) define format ( B C )
field width = 8 modal
metric formats
decimal point = true decimal places = 3 trailing zeros = false leading zeros = false imperial formats decimal point = true decimal places = 4 trailing zeros = false leading zeros = false end define word order = ( + B C ) define keys azimuth axis = B elevation axis = C end define
spindle azimuth rotation = true azimuth axis units = degrees azimuth axis direction = positive
azimuth axis parameters = ( 0.0 0.0 0.0 0 1 1 ) ## NOTE two axes and signs. azimuth centre = ( 0.0 0.0 0.0 )
# azimuth centre = ( 0.0 0.0 329.22 ) ## See notes-4 below spindle elevation rotation = false
elevation axis units = degrees
elevation axis direction = positive
elevation axis parameters = ( 0.0 0.0 0.0 0 0 1 )
linear axis limits = ( -710 0 710.0 -600.0 600.0 -325.0 325.0 ) rotary axis limits = ( 0.0 180.0 -3600.0 3600.0 0.1 1 )
initial tool vector = ( 0 0 1 ) ## Spindle Alignment with Z axis. default workplane angles = none ## See notes-6 below
multiaxis coordinate transform = true
linearise multiaxis moves = true or false retract at angular limit = true
withdrawal amount = 100.0 integer 3 = 1 define block move rapid
N ; G1 ; G6 ; x coord ; y coord ; z coord ; azimuth axis ; elevation axis ; S ; H ; M1 ; M2 end define
## It is not essential to have the rotary axes in the Rapid block. define block move linear
N ; G1 ; x coord ; y coord ; z coord ; azimuth axis ; elevation axis ; RR ; feedrate ; M1 ; M2 end define
## This is the minimum requirement, it could well require additional embellishment to meet certain functions.
## It is not essential to have the rotary axes in the Rapid block as it isn’t used for multi axis working.
( Return to TOP ) 5/ Five axes 45deg, Swivel & Rotary Tables / Vertical Spindle ( DMG - DMU*V Series ) [ see DMG
Animation ]
Swivel Azimuth Table (B) rotating 45 degrees about ZY axes, Rotary Elevation Table (C) rotating about Z
axis, when B is zero ( Table Horizontal).
( These machines usually have Heidenhain controls - with Siemens or MillPLUS as an alternative ) word order = ( + B C )
define keys
azimuth axis = B
elevation axis = C
end define
spindle azimuth rotation = false
azimuth axis units = degrees
azimuth axis direction = positive
azimuth axis param = ( 0.0 0.0 0.0 0 1 -1 ) ## NOTE two axes and signs. azimuth axis param = ( 0.0 0.0 159.325 0 1 -1 ) ## MillPLUS
spindle elevation rotation = false
elevation axis units = degrees
elevation axis direction = positive
elevation axis param = ( 0.0 0.0 0.0 0 0 1 ) ## See notes-5 below linear axis limits = ( -500.0 500.0 -500.0 500.0 -325.0 325.0 ) rotary axis limits = ( -7.0 180.0 -7200.0 7200.0 0.1 1 )
initial tool vector = ( 0 0 1 ) ## Spindle Alignment with Z axis. default workplane angles = none ## See notes-6 below
multiaxis coordinate transform = false linearise multiaxis moves = false
retract at angular limit = true ## Default = false
withdrawal amount = 100.0 integer 3 = 1 define block move rapid
N ; G1 ; G6 ; x coord ; y coord ; z coord ; azimuth axis ; elevation axis ; S ; H ; M1 ; M2 end define
define block move linear ……….. ……….. if ( Toolpath5axis )
if ( swb )
N ; G1 ; M3 128 ; “ ; Heidenhain RTCP ON CODE”
N ; G1 ; M4 126 ; “ ; Heidenhain TAKE Shortest Rotation Path” unset swb
end if
N ; G1 ; x coord ; y coord ; z coord ; azimuth axis ;elevation axis ; RR ; feedrate ; M1 ; M2 end if
end define
## This is the minimum requirement, it could well require additional embellishment to meet certain functions.
## It is not essential to have the rotary axes in the Rapid block as it isn’t used for multi axis working.
( Return to TOP ) NOTES
These notes cover various points that are indicated in the above examples, but are by no means exhaustive as each type of 5 axes needs to be considered on its own merits, and careful consideration give to the particular control requirements and customer operating preferences in the way it is constructed.
1a/ In Type A, NO centre of rotation offset is defined, therefore the Machine datum X0 Y0 Z0 is defined at the centre of the Elevation table surface, zero aligns with the Azimuth tilt table X ( or Y ) axis centre line of rotation.
1b/ In Type B, the Machine datum X0 Y0 Z0 is defined at the centre of the Elevation table surface, and the table surface lies 55.0 mm. below the centre line of the Azimuth tilt table rotation then the offset must be accounted for as shown.
1c/ In Type C, the Machine datum X0 Y0 Z0 is defined at the centre of the Elevation table surface, and the table surface lies 55.0 mm. above the centre line of the Azimuth tilt table rotation then the offset must be accounted for as shown.
The following parameters must also be set as :- multiaxis coordinate transform = true
linearise multiaxis moves = true or false
IF the machine tool control has the capability of looking after its own RTCP calculations, called by an appropriate G or M or ( Siemens TRAORI ) code definition, that must be inserted prior to, or with, the first azimuth angular move.
Then the parameters will be defined as, and NO offsets will be needed :- multiaxis coordinate transform = false
linearise multiaxis moves = true or false
( See examples Type A ; Type B ; Type C - Back to 1 ) 2/ In this example a centre of rotation offset is defined, and as it is a Spindle Azimuth Swiveling Tool the offset is defined in the “ azimuth centre parameter ” Z axis alignment as a POSITIVE value. The offset is the distance between the centre of rotation of the Swivel Head and the face of the the tool holder ( E - see example -
Back to 2 )
3/ In this example a centre of rotation offset is defined, and as it is a Spindle Elevation Swiveling Tool