Siemens SINUMERIK 840D sl Programming Manual page 428

Tool offsets
9.8 Toolholder kinematics
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
● The direction vectors of both rotary axes
● The angles of rotation α1, α2 around the two axes. The rotation angles are counted in
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
1
rotation
α
2
rotation
l offset vector
3
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from the first rotary axis to the second rotary axis
second rotary axis to the reference point of the tool
viewing 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]
angle of $TC_CARR13[m]
$TC_CARR14[m]
angle of
$TC_CARR15[m]
or v
1
, the vectoral distance from the
I 2
.
I
3
, .
V 1 V 2
y component
$TC_CARR2[m]
$TC_CARR5[m]
$TC_CARR8[m]
$TC_CARR11[m]
$TC_CARR16[m]
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
are defined using the
2
, the vectoral distance
I 1
z component
$TC_CARR3[m]
$TC_CARR6[m]
$TC_CARR9[m]
$TC_CARR12[m]
$TC_CARR17[m]
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