Siemens SINUMERIK 840D sl Function Manual page 112

W1: Tool offset
2.8 Tool carriers with orientation capability
Example of mixed kinematics
I and I
1
v
1
I and I
3
v
2
Figure 2-36
The kinematics of the tool carrier is defined together with the machine kinematics.
Definition of the tool carrier:
● Definition of the characteristics of tool carrier with $TC_CARR_KIN_CNTRL:
– Close tool carrier via kinematic chain, tool chain, and table chain of the tool carrier.
● The starting point of the kinematic chain of the tool carrier is set via system variables
$TC_CARR_KIN_TOOL_START and $TC_CARR_KIN_PART_START (chain element
name).
● Definition of the rotary axes of the tool carrier with $TC_CARR21 (Page 95) and
$TC_CARR22
● Definition of the tool carrier type with $TC_CARR23 (T, P, or M)
Definition of the kinematics of the tool carrier:
The workpiece part of a kinematic chain for a tool carrier can be structured as follows (example):
Define the linear axes of the kinematic chain (geometric axes X, Y, and Z).
112
Offset of the tool chain of the tool holder
2
Rotary axis of the tool chain
Offset of the workpiece chain of the tool holder
4
Rotary axis of the tool chain
Mixed kinematics
Function Manual, 06/2019, A5E47435126B AA
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