Siemens SINUMERIK 840D sl Function Manual page 132

W1: Tool offset
2.8 Tool carriers with orientation capability
Toolholder kinematics
The following supplementary conditions must be met for toolholder kinematics:
● Tool orientation in initial state, both angles α
– G17 parallel to Z
– G18 Parallel to Y
– G19 parallel to Z
● A permissible position in terms of the axis limits must be achievable.
● For any possible orientation to be set, the two rotary axes must be perpendicular to each
other.
For machines, on which the table is rotated by both axes, the tool orientation must also be
perpendicular to the first rotary axis.
For machines with mixed kinematics, the tool orientation must be perpendicular to the axis
which rotates the tool, i.e. also the first rotary axis.
The following applies to orientations specified in a frame:
● The orientation specified in a frame must be achievable with the defined toolholder
kinematics, otherwise an alarm is output.
This situation can occur if the two rotary axes required to define the kinematics are not
perpendicular to each other.
This applies if fewer than two rotary axes are defined and is the case:
– With kinematic type T with rotary tool, if the tool axis, which defines the tool direction, is
– With kinematic types M and P with rotary workpiece, if the tool axis, which defines the tool
● Rotary axes, which require a frame with a defined tool orientation in order to reach a specific
position, are only determined unambiguously in the case of one rotary axis. Two general
solutions exist for two rotary axes.
● In all cases where ambiguities may arise, it is particularly important that the approximate
angles expected from the frame are stored in the tool data, and that the rotary axes are in
the vicinity of the expected positions.
Response with ASUP, REPOS
The toolholder can be changed in an asynchronous subprogram (ASUB). When the interrupted
program is resumed with REPOS, the approach motion of the new toolholder is taken into
account and the program continues with this motion. The treatment here is analogous to tool
change in an ASUB.
For further information, see Function Manual "Basic Functions", Section "Mode group, channel,
program operation, reset behavior".
132
not perpendicular to the second axis.
direction, is not perpendicular to the first axis.
and α zero, as per default setting, even if:
1 2
Function Manual, 06/2019, A5E47435126B AA
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