Siemens SINUMERIK 840D sl Function Manual page 114

W1: Tool offset
2.8 Tool carriers with orientation capability
Syntax
Bit0=1
Bit0=0
Bit1=1
Bit2=1
$TC_CARR_KIN_TOOL_START and $TC_CARR_KIN_PART_START
System variables $TC_CARR_KIN_TOOL_START and $TC_CARR_KIN_PART_START
define the starting points of the kinematic chains that are used to parameterize the tool or
workpiece part of a tool carrier. If the system variables are empty, the starting point of each
kinematic chain is the root element of the kinematic description.
The option of parameterizing only part of the kinematic chain that does not start with the root
element makes particular sense and indeed is necessary if the tool carrier is to be deployed in
its original function as a "tool extension" and not for the static modeling of the complete
transformation kinematics of a machine tool.
Syntax
$TC_CARR_KIN_TOOL_START[n]
= <name>
$TC_CARR_KIN_PART_START[n]
= <name>
n
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Description
The tool carrier is parameterized from the kinematic chain elements. The following data of the tool
carrier, including the fine offset, are replaced with geometry data from the kinematic chain ele‐
ments:
Conventional tool carrier
$TC_CARR1 – TC_CARR3 (offset vector l
$TC_CARR4 – TC_CARR6 (offset vector l
$TC_CARR7 – TC_CARR9 (rotary axis direc‐
tion v )
1
$TC_CARR10 – TC_CARR12 (rotary axis di‐
rection v )
2
$TC_CARR15 – TC_CARR17 (offset vector l
$TC_CARR18 – TC_CARR20 (offset vector l
$TC_CARR24 – TC_CARR25 (rotary axis off‐
sets)
The tool carrier parameters are assigned with the data from $TC_CARRxx.
The content of offset vector I
coincides with the zero point of the world coordinate system (chain is closed).
The content of offset vector I
coincides with the zero point of the world coordinate system (chain is closed).
Description
Defines the name of the starting elements of the tool or workpiece chain.
Data type: STRING
Index of the tool carrier; the maximum number of tool carriers can be defined in ma‐
chine data MM_NUM_TOOL_CARRIER.
Kinematic chain
) X, Y, and Z component of the offset vector I
1
) X, Y, and Z component of the offset vector I
2
X, Y, and Z component of the rotary axis v
X, Y, and Z component of the rotary axis v
); X, Y, and Z component of the offset vector I
3
) X, Y, and Z component of the offset vector I
4
is changed in such a way that the end point of the tool chain
1
is changed in such a way that the end point of the workpiece chain
4
Function Manual, 06/2019, A5E47435126B AA
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Tools