Siemens SINUMERIK 840DE sl Commissioning Manual page 577

Note
If, after a RESET from the NC, a frame must be calculated in the tool direction, then
MD20150 $MC_GCODE_RESET_VALUES[52] can be set to a value > 1.
Applications:
● Machine kinematics with Hirth joint
● Angular tool with basic tool orientation
Note on kinematics (swivel head / mixed kinematics) with Hirth joint:
Depending on the active plane (G17,G18,G19), the TOROT command (or TOROTX,
TOROTY) is programmed in the NCU (G group 53) to calculate the compensating frame for
the Hirth joint in CYCLE800. If the Hirth joint causes the programmed rotation to deviate from
the possible positions of the rotary axes, a $P_TOOLFRAME compensating frame is created
for swivel head and mixed kinematics (see HMI active ZO / details tool reference).
If the compensating frame must be retained after RESET or end of part program, enter the
following value in the channel-specific machine data:
MD20150 $MC_GCODE_RESET_VALUES[52]
= 2
= 3
= 4
MD20196 $MC_TOCARR_ROTAX_MODE
Bit 0 = 1
Bit 1 = 1
Bit 2
MD20360 $MC_TOOL_PARAMETER_DEF_MASK
Bit 10 = 1
Bit 19 = 1
SINUMERIK Operate (IM9)
Commissioning Manual, 12/2017, 6FC5397-1DP40-6BA1
For G17 (TOROT)
For G18 (TOROTY)
For G19 (TOROTX)
Swivel data set with a rotary axis
used for a rotary table with C axis
Swivel data set with two rotary axes
used for standard swiveling
= 1 In a singular position, for which there is an unambiguous solution due to the alignment
of the coordinate axes that are vertical to the orientation, the value 1 is displayed in the
system variable $P_TCSOL as the number of solutions.
= 0 This version is required to ensure compatibility with older software versions. Two sol‐
utions are displayed; the angles about the orientation axis differ by 180 degrees.
The orientation vector remains at T0 or D0 (no tool)
Used for machine kinematics, types "T" and "M"
See parameter $TC_CARR34
The changed orientation vector remains at T0 or D0 (no tool)
Bit 19 acts only with bit 10 = 1
Technologies and cycles
Reset behavior of G groups
Rotary axis mode for tool holders with ori‐
entation capability
Tool parameter setting
21.7 Swiveling
563