Siemens SINUMERIK 840D sl Programming Manual page 366

Tool offsets
8.8 Tool holder kinematics
• the tool longitudinal axis is perpendicular to the second rotary axis V
In addition, the following requirement is applicable to machines for which all possible
orientations have to be settable:
• the tool longitudinal axis must be perpendicular to the first rotary axis V
Description
Resolved kinematics
For machines with resolved kinematics (both the tool and the part can rotate), the system
variables have been extended to include the entries $TC_CARR18[m] to $TC_CARR23[m]
are described as follows:
The rotatable tool table consisting of:
• the vectoral distance of the second rotary axis V
The rotary axes consisting of:
• the two channel identifiers for the reference to the rotary axes V
The type of kinematics with one of the values T, P or M:
• Kinematics type T: Only tool can rotate.
• Kinematics type P: Only part can rotate.
• Kinematics type M: Tool and part can rotate.
Clearing the toolholder data
$TC_CARR1[0] = 0 can be used to clear the data of all toolholder data blocks.
The type of kinematics $TC_CARR23[T] = T must be assigned one of the three
permissible uppercase or lowercase letter (T,P,M) and should not be deleted.
Changing the toolholder data
Each of the described values can be modified by assigning a new value in the parts
program. Any character other than T, P or M causes an alarm when you attempt to activate
the orientable toolholder.
Reading the toolholder data
Each of the described values can be read by assigning it to a variable in the parts program.
Fine offsets
A permissible fine offset value is not detected unless an orientable toolholder that contains
such a value is activated and setting data SD 42974: TOCARR_FINE_CORRECTION =
TRUE.
The maximum permissible fine offset is limited to a permissible value in the machine data.
8-44
table I of the third rotary axis.
4
is accessed as required to determine the orientation of the orientable toolholder.
to the reference point of a rotatable tool
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Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
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2
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and V , whose position
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