Supplementary Conditions And Control System Response For Orientation - Siemens SINUMERIK 840D sl Function Manual

Detailed Description
2.5 Toolholder with orientation capability
Activation
A toolholder becomes active when both a toolholder and a tool have been activated. The
selection of the toolholder alone has no effect. The effect of selecting a toolholder depends
on the G code TCOABS/TCOFR (modal G-code group for toolholders).
Changing the G code in the TCOABS/TCOFR group causes recalculation of the tool length
components when the toolholder is active. With TCOABS, the values stored in the toolholder
data for both angles of rotation α1 and α2 are used to determine the tool orientation.
With TCOFR, the two angles are determined from the current frame. The values stored in the
toolholder data are not changed, however. These are also used to resolve the ambiguity that
can result when the angle of rotation is calculated from one frame. Here, the angle that
deviates least from the programmed angle is selected from the various possible angles.
Note
For more explanations on the programming of tool compensations with toolholder kinematic
and for the system variables see:
References:
/PGA/ Programming Manual Work Preparation
2.5.7

Supplementary conditions and control system response for orientation

Full orientation
For a given data set that describes a certain kinematic, all the conceivable special
orientations can only be displayed when the following conditions are satisfied:
• The two vectors v
• The two vectors v
• The tool orientation must be perpendicular to the second rotary axis.
Non-defined orientation
If these conditions are not satisfied and an orientation that cannot be achieved by an active
frame is requested with TCOFR, an alarm is output.
Vector/angle of rotation dependencies
If vector v
angle of rotation α1 or α2 must also be set to zero. Otherwise, an alarm is produced. The
alarm is not output until the toolholder is activated, i.e., when the toolholder is changed.
122
and v
1
equal to zero).
and v
1
or v , which describes the direction of a rotary axis, is set to zero, the associated
1 2
that describe the rotary axes, must be defined (i.e., must not be
2,
must be perpendicular to each other.
2
Basic logic functions: Tool Offset (W1)
Function Manual, 11/2006, 6FC5397-0BP10-2BA0