Siemens SINUMERIK 840D sl Function Manual page 115

$TC_CARR_KIN_TOOL_END and $TC_CARR_KIN_PART_END
System variables $TC_CARR_KIN_TOOL_END and $TC_CARR_KIN_PART_END define the
end points of the kinematic chains that are used to parameterize the tool or workpiece part of
a tool carrier. At least one of these two names must be not equal to the null string.
Syntax
$TC_CARR_KIN_TOOL_END[n] =
<name>
$TC_CARR_KIN_PART_END[n] =
<name>
n
Simulation with tool carriers capable of orientation (kinematic chain)
Note
Setting machine data for simulation and recording
To ensure that simulation and recording is implemented correctly, set the machine data MD
51226 $MNS_FUNCTION_MASK_SIM Bit 22.
Boundary conditions and notes
● If the system data of the tool carrier (TC_CARRxx) are replaced with data from kinematic
chain elements, the content of system variable $TC_CARRxx is not changed.
● Tool carriers and transformations that were defined with kinematic chains can be active at
the same time. It does not matter how the tool carrier is parametrized (directly from the
system data TC_CARR... or from kinematic chains).
● It must be possible to map the kinematic chains that will be used to parameterize a tool
carrier onto a tool carrier configuration. If this condition is not met, alarm 14149 is triggered.
Measuring tool carriers from kinematic chains.
When measuring the kinematics of a tool carrier and the subsequent offset, the effective offset
vectors have to be modified. Because such an offset vector can in principle be formed from any
number of partial vectors of the kinematic chain supplying the parameter settings, the chain
element to be corrected is not automatically identifiable.
Syntax
$TC_CARR_CORR_ELEM[n, m] = <string>
n
m
Tools
Function Manual, 06/2019, A5E47435126B AA
Description
Defines the name of the end 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.
Description
Name of the next element in the kinematic chain from which the tool carrier
data are to be read. The element is used as the correction element for the
offset vector with index m.
Data type: STRING
Index of the tool carrier; the maximum number of tool carriers can be defined
in machine data MM_NUM_TOOL_CARRIER.
Index of the correction vector (value range 0...3)
2.8 Tool carriers with orientation capability
W1: Tool offset
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