Siemens SINUMERIK 840D sl Function Manual page 103

Zero vectors
Vectors v
calculated from the active frame) must then also be zero, since the direction of the rotating axis
is not defined. If this condition is not satisfied, an alarm is produced when the toolholder is
activated.
Less than two rotating axes
The option not to define a rotating axis makes sense when the toolholder to be described can
only rotate the tool in one plane. A sensible minimum data block may, therefore, contain only
one single entry not equal to 0 in the toolholder data; namely, a value in one of the components
of v
1
is determined from one frame.
Further special cases
Vectors v
type of kinematic is the same as one where only one rotary axis is defined. All possible
orientations lie on one cone sheath. The conical sheath deforms to a straight line if tool
orientation t and v
this special case. The cone sheath deforms to a circular surface (i.e. all orientations are
possible in one plane), if tool orientation t and v
It is permissible for the two vectors v
possible. In this special case, any lengths l
tool length compensations, in which the components in the individual axes are not affected by
changing the plane (G17 - G19).
Kinematics data expansions
● Possibility of direct access to existing machine axes in order to define the toolholder setting
via the rotary axis positions.
● Extension of the kinematics with rotary workpiece and on kinematics with rotary tool and
rotary workpiece.
● Possibility to permit only discrete values in a grid for the rotary axis positions (Hirth tooth
system).
The extensions are compatible with earlier software versions and encompass the kinematic
data blocks from $TC_CARR18 to $TC_CARR23.
Machine with rotary tool
On machines with rotary tool there is no change in the definition of the kinematics compared to
older software versions. The newly introduced vector l
Should the contents of l
The term "Toolholder with orientation capability" is actually no longer really appropriate for the
new kinematic types, with which the table can also be rotated, either alone or additionally to the
tool. However, it has been kept for reasons of compatibility.
Tools
Function Manual, 06/2019, A5E47435126B AA
and v can be zero. The associated angle of rotation (explicitly programmed or
1 2
or v for describing a rotating axis parallel to the axis where the angle of rotation α1 or α2
2
and v can be colinear. However, the degree of freedom for orientation is lost, i.e. this
1 2
or v become colinear. Change of orientation is, therefore, not possible in
1 2
not be zero, this is ignored.
4
2.8 Tool carriers with orientation capability
or v are perpendicular to each other.
1 2
and v to be zero. A change in orientation is then no longer
1 2
and l , which are not equal to zero, act as additional
1 2
, in particular, has no significance.
4
W1: Tool offset
103