Siemens SINUMERIK 840D sl Function Manual page 1453

Figure 18-41 Kinematic sequence with extended kinematics
The following kinematic type is defined for machines with a rotary tool and rotary workpiece:
$TC_CARR23 using letter M (extended kinematics)
Note
On machines with extended kinematics it is generally useful, as with machines where only the
table can be rotated, for the machine reference point and the reference point of the table to
be identical. The (open) chain component to describe the table (see figure) is then closed.
In this special case, the following formula applies: l
Rotary tool types T and M
For machine kinematics with a rotary tool (types T and M), the toolholder component with
orientation capability, which describes the tool or head component (as opposed to the table
component), acts, in conjunction with the active tool, as a new overall tool.
Fine offset
The offset vectors l
sum of a basic value and a fine offset. The fine offset parameters assigned to the basic values
are achieved by adding a value of 40 to the index of the basic value.
Example:
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
to l and the offsets of the rotary axes v
1 4
18.6 Toolholder with orientation capability
= - l
3 4
and v can be represented as the
1 2
W1: Tool offset
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