Programming - Siemens SINUMERIK 840D sl Function Manual

Limit values
Limit angles (software limits) can be specified for each rotary axis in the system variable set
($TC_CARR30 to $TC_CARR33) used to describe the tool carrier with orientation capability.
These limits are not evaluated if both the minimum and maximum value is zero.
If at least one of the two limits is not equal to zero, the system checks whether the previously
calculated solution is within the permissible limits. If this is not the case, an initial attempt is
made to reach a valid setting by adding or subtracting multiples of 360 degrees to or from the
invalid axis position. If this is impossible and two different solutions exist, the first solution is
discarded and the second solution is used. The second solution is treated the same as the first
with reference to the axis limits.
If the first solution is discarded and the second used instead, the contents of $P_TCANG[1/2]
and $P_TCANG[3/4] are swapped, hence the solution actually used is also stored in
$P_TCANG[1/2] in this case.
The axis limits are monitored even if the axis angle is specified instead of being calculated. This
is the case if TCOABS is active when a tool carrier with orientation capability is activated.
2.8.8

Programming

Selecting the toolholder
A toolholder is selected with the number m of the toolholder with:
TCARR = m
Access to toolholder data blocks
The following access is possible from the part program:
The current value of the parameter n for the tool holder m is written with the new "value" with::
$TC_CARRn[m] = value
The parameters of a tool holder m can, as far as the toolholder data set is already defined, read
with:
value = $TC_CARRn[m] (Value must be a REAL variable)
The toolholder data set number must lie in the range, which is defined by the machine data:
MD18088 $MN_MM_NUM_TOOL_CARRIER (total number of tool carrier data sets that can be
defined)
This number of toolholder data sets, divided by the number of active channels, can be defined
for a channel.
Exception:
If settings, which deviate from the standard, are selected via the machine data:
MD28085 $MC_MM_LINK_TOA_UNIT (Assignment of TO unit to a channel).
Tools
Function Manual, 06/2019, A5E47435126B AA
2.8 Tool carriers with orientation capability
W1: Tool offset
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