Kinematic Interaction And Machine Design - Siemens SINUMERIK 840D sl Function Manual

Description
z comp. fine offset of offset vector l
x comp. fine offset of offset vector l
y comp. fine offset of offset vector l
z comp. fine offset of offset vector l
x comp. fine offset of offset vector l
y comp. fine offset of offset vector l
z comp. fine offset of offset vector l
x comp. fine offset of offset vector l
y comp. fine offset of offset vector l
z comp. fine offset of offset vector l
Offset of fine offset of rotary axis v
Offset of fine offset of rotary axis v
Remarks:
*
)
18.6.2

Kinematic interaction and machine design

Representation of the kinematic chain
The concept of the kinematic chain is used to describe the kinematic interaction between a
reference point and the tool tip.
The chain specifies all the data required for the toolholder data block in a schematic. To
describe the concrete case with a particular kinematic, the relevant components of the chain
must be assigned real vectors, lengths and angles. The chain represents the maximum
constellation. In simpler applications, individual components can be zero (e.g. kinematics with
one or no rotary axis).
The machine does not have to have axes that rotate the tool and/or workpiece table. The
function can be used even if the orientations are set manually by handwheels or reconfiguration.
The machine design is described by the following parameters:
● Two rotary axes (v
for clockwise rotation facing the direction of the rotation vector.
● Up to four offset vectors (l
to machine or tool reference points).
Zero vectors
Vectors v
calculated from the active frame) must then also be zero, since the direction of the rotating
axis is not defined. If this condition is not satisfied, an alarm is produced when the toolholder
is activated.
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
The system variables $TC_CARR35 to $TC_CARR40 are used in the measuring cycles as well
as ShopMill and ShopTurn.
and v
1 2
and v can be zero. The associated angle of rotation (explicitly programmed or
1 2
NCK variable
$TC_CARR43
1
$TC_CARR44
2
$TC_CARR45
2
$TC_CARR46
2
$TC_CARR55
3
$TC_CARR56
3
$TC_CARR57
3
$TC_CARR58
4
$TC_CARR59
4
$TC_CARR60
4
$TC_CARR64
1
$TC_CARR65
2
), each with one angle of rotation (α
to l ) for relevant machine dimensions (axis distances, distances
1 4
18.6 Toolholder with orientation capability
Language
format
REAL
REAL
REAL
REAL
REAL
REAL
REAL
REAL
REAL
REAL
REAL
REAL
or α ), which counts positively
1 2
W1: Tool offset
Default setting
0
0
0
0
0
0
0
0
0
0
0
0
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