Siemens SINUMERIK 840D sl Function Manual page 779

The system frame for TCARR and PAROT is configured with:
MD28082 $MC_MM_SYSTEM_FRAME_MASK, bit 2 = 1
The following machine data is then no longer evaluated:
MD20184 $MC_TOCARR_BASE_FRAME_NUMBER
If the system frame for TCARR is configured, TCARR and PAROT describe that corresponding
system frame; otherwise the basic frame identified by machine data MD20184 is described.
With kinematics systems of the types P and M, TCARR will enter the table offset of the orientable
toolholder (work offset resulting from the rotation of the table) as a translation into the system
frame. PAROT converts the system frame so that a workpiece-related WCS results.
The system frames are stored retentively and therefore retained after a reset. The system
frames also remain active in the case of a mode change.
For the display, the commands PAROT and TOROT, TOFRAME are each assigned to a separate
G code group.
PAROTOF
PAROTOF is the switch off command for PAROT. This command deletes the rotations in the
system frame for PAROT. In so doing, the rotations in the current $P_PARTFRAME and in the
data management frame $P_PARTFR are deleted. The position of the coordinate system is
then recreated according to TCARR. PAROTOF is in the same G group as PAROT and appears
therefore in the G code display.
TOROT (align Z axis of the WCS by rotating the frame parallel to the tool orientation) and TOFRAME
(ditto.)
The system frame for TOROT and TOFRAME is activated via the following machine data:
MD28082 $MC_MM_SYSTEM_FRAME_MASK, bit 3 = 1
This system frame is located before the programmable frame in the frame chain.
The SZS coordinate system is located before the programmable frame.
TOROTOF
TOROTOF is the switch off command for TOROT and TOFRAME. This command deletes the
corresponding system frame. The current $P_TOOLFRAME and the data management frame
$P_TOOLFR are also deleted. TOROTOF is in the same G group as TOROT and TOFRAME and
appears therefore in the G code display.
Example
Use of an orientable toolholder with resolved kinematics.
N10 $TC_DP1[1,1]=120
N20 $TC_DP3[1,1]= 13
; Definition of toolholder 1:
N30 $TC_CARR1[1] = 0
N40 $TC_CARR2[1] = 0
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
K2: Axis Types, Coordinate Systems, Frames
; Tool length 13 mm
; X component of 1st offset vector
; Y component of 1st offset vector
10.5 Frames
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