Siemens Sinumerik 840D sl Programming Manual page 446

Tool offsets
7.8 Tool holder kinematics
For machines with resolved kinematics (both the tool and the part can rotate), the system
variables have been extended with the entries
• $TC_CARR18[m] to $TC_CARR23[m].
Parameters
Function of the system variables for orientable toolholders
Designation
l offset vector
1
l offset vector
2
v rotary axis
1
v rotary axis
2
α angle of
1
rotation
α angle of
2
rotation
l offset vector
3
Extensions of the system variables for orientable toolholders
Name
l offset vector
4
Axis identifier
rotary axis v
rotary axis v
Kinematic type
Tool
Part
Mixed mode
Offset of the
rotary axis v
rotary axis v
Angle offset of
the rotary axis v
rotary axis v
Angle increment
v rotary axis
1
v rotary axis
2
Min. position
rotary axis v
rotary axis v
Max. position
rotary axis v
rotary axis v
Toolholder name
446
x component
$TC_CARR1[m]
$TC_CARR4[m]
$TC_CARR7[m]
$TC_CARR10[m]
$TC_CARR13[m]
$TC_CARR14[m]
$TC_CARR15[m]
x component
$TC_CARR18[m]
Axis identifier of the rotary axes v
$TC_CARR21[m]
1
$TC_CARR22[m]
2
$TC_CARR23[m]
Kinematics type T ->
Only the tool can rotate
(default).
Angle in degrees of the rotary axes v
$TC_CARR24[m]
1
$TC_CARR25[m]
2
Offset of the Hirth tooth system in degrees for rotary axes v
$TC_CARR26[m]
1
$TC_CARR27[m]
2
Offset of the Hirth tooth system in degrees for rotary axes v
$TC_CARR28[m]
$TC_CARR29[m]
Software limit for the minimum position of the rotary axes v
$TC_CARR30[m]
1
$TC_CARR31[m]
2
Software limits for the maximum position of the rotary axes v
$TC_CARR32[m]
1
$TC_CARR33[m]
2
A toolholder can be given a name instead of a number. $TC_CARR34[m]
y component
$TC_CARR2[m]
$TC_CARR5[m]
$TC_CARR8[m]
$TC_CARR11[m]
$TC_CARR16[m]
y component
$TC_CARR19[m]
and v (initialized with zero)
1 2
Kinematics type P ->
Only the part can rotate
and v on assuming the initial setting
1 2
Programming Manual, 02/2011, 6FC5398-2BP40-1BA0
y component
$TC_CARR3[m]
$TC_CARR6[m]
$TC_CARR9[m]
$TC_CARR12[m]
$TC_CARR17[m]
z component
$TC_CARR20[m]
Kinematics type M
Part and tool can rotate
and v
1 2
and v
1 2
and v
1 2
and v
1 2
Job planning