Siemens SINUMERIK 840D sl Function Manual page 113

Define a kinematic element of type "OFFSET" (=I
$TC_CARR4 - $TC_CARR6.
Define a kinematic element of type "AXIS_ROT" (=v
to $TC_CARR7 - $TC_CARR9.
Define an element of type "OFFSET" (=I
$TC_CARR15 - $TC_CARR17.
Define an element of type "AXIS_ROT" (=v
$TC_CARR10 - $TC_CARR12.
Define an element of type "OFFSET" (=I
$TC_CARR18 - $TC_CARR20.
If required, definition of a rotary axis offset for axes v1 and v2. The offset is entered in the
system variable $NK_A_OFF, which is assigned to the "AXIS_ROT"-type chain element.
Corresponds to $TC_CARR24 – TC_CARR25.
At least one rotary axis must be defined.
Note
Sign for rotary axis offset
A positive value for the rotary axis offset for the rotary axes in $TC_CARR24 or $TC_CARR25
is entered in the kinematic chain as a negative value.
Selecting the tool carrier:
The tool carrier is selected with the NC program command in the part program:
TCARR = <name>
Note
Starting point of the kinematic chain
If a starting point for the kinematic chain of the tool carrier (workpiece or tool) has not been
defined via TC_CARR_KIN_PART_START or TC_CARR_KIN_TOOL_START, the ROOT
element (world coordinate system) is automatically defined as the starting point of the chains.
$TC_CARR_KIN_CNTRL
$TC_CARR_KIN_CNTRL specifies whether the geometry data of a tool carrier are read from
kinematic chain elements or from conventional tool carrier data ($TC_CARRxx). The system
variable is bit-coded.
Syntax
$TC_CARR_KIN_CNTR
L[n]
n
Tools
Function Manual, 06/2019, A5E47435126B AA
Description
Controls transfer of the geometry data of a machine model defined with kinematic chains to
parameterize a tool carrier. If Bit0 = 1, the data from $TC_CARRxx are ignored but data are taken
from the kinematic chains. It may furthermore be set how the kinematic chain is closed.
Data type: INT
Index of the tool carrier; the maximum number of tool carriers can be defined in machine data
MM_NUM_TOOL_CARRIER.
2.8 Tool carriers with orientation capability
) in the X, Y, and Z direction. Corresponds to
2
) in the X, Y, and Z direction. Corresponds
1
) in the X, Y, and Z direction. Corresponds to
3
) in the X, Y, and Z direction. Corresponds to
2
) in the X, Y, and Z direction. Corresponds to
4
W1: Tool offset
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