Siemens SINUMERIK 828D Function Manual page 1505

Kinematics data expansions
• Possibility of direct access to existing machine axes in order to define the toolholder setting via the rotary axis
positions.
• Extension of the kinematics with rotary workpiece and on kinematics with rotary tool and rotary workpiece.
• Possibility to permit only discrete values in a grid for the rotary axis positions (Hirth tooth system).
The extensions are compatible with earlier software versions and encompass the kinematic data blocks from
$TC_CARR18 to $TC_CARR23.
Machine with rotary tool
On machines with rotary tool there is no change in the definition of the kinematics compared to older software
versions. The newly introduced vector l
this is ignored.
The term "Toolholder with orientation capability" is actually no longer really appropriate for the new kinematic
types, with which the table can also be rotated, either alone or additionally to the tool. However, it has been kept
for reasons of compatibility.
The kinematic chains used to describe the machine with rotary tool (general case) are shown in the figure below:
Figure 18-39 Kinematic chain to describe a tool with orientation
Vectors, which describe offsets in the rotary head, are positive in the direction from the tool tip to the reference
point of the toolholder.
The following kinematic type is defined for machines with a rotary tool:
$TC_CARR23 using letter T
Basic Functions
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
, in particular, has no significance. Should the contents of l
4
18.6 Toolholder with orientation capability
W1: Tool offset
not be zero,
4
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