Tool Holder Kinematics - Siemens SINUMERIK 840D sl Programming Manual

Tool offsets

8.8 Tool holder kinematics

8.8 Tool holder kinematics
8.8
Function
The toolholder kinematics with a maximum of two rotary axes v
17 system variables $TC_CARR1[m] to $TC_CARR17[m]. The description of the
toolholder consists of:
• the vectoral distance from the first rotary axis of the toolholder I
• the direction vectors of both rotary axes V
• the rotational angles α
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
8-40
from the first rotary axis to the second rotary axis I
second rotary axis to the reference point of the tool I
direction of the rotary axis vectors, positive, in clockwise direction of rotation.
x component
$TC_CARR1[m]
$TC_CARR4[m]
$TC_CARR7[m]
$TC_CARR10[m]
, V
1
, α at the two axes. The rotation angles are counted in viewing
1 2
y component
$TC_CARR2[m]
$TC_CARR5[m]
$TC_CARR8[m]
$TC_CARR11[m]
Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
or v are defined using the
1 2
, the vectoral distance
1
, the vectoral distance from the
2
.
3
.
2
y component
$TC_CARR3[m]
$TC_CARR6[m]
$TC_CARR9[m]
$TC_CARR12[m]
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