Siemens SINUMERIK 840D sl Function Manual page 1965

Kinematic transformation, toolholder with orientation capability
If a toolholder with orientation capability is taken account of during the tool length calculation,
the following vectors are included in that calculation:
Type
M
T
P
In generic 5-axis transformation, the following machine data are included in the tool length
calculation for transformer types 24 and 56:
Transforme
r type
24
56
Transformation type 56 corresponds to type M for a toolholder with orientation capability.
With this 5-axis transformation in the software versions used up to now, the following vector
is equivalent to the sum of the two vectors l
type M.
MD24560/24660 $MC_TRAFO5_JOINT_OFFSET_1/2 (vector of kinematic offset of the
first/second 5-axis transformation in the channel)
Only the sum is relevant for the transformation in both cases. The way, in which the two
individual components are composed, is insignificant. When calculating the tool length,
however, it is relevant which component is assigned to the tool and which is assigned to the
tool table.
This explains the introduction of new machine data:
MD24558/24658 $MC_TRAFO5_JOINT_OFFSET_PART_1/2 (vector kinematic offset in
table).
It is equivalent to the vector l
The following machine data no longer corresponds to the sum of l
l .
1
MD24560/24660 $MC_TRAFO5_JOINT_OFFSET_1/2 (vector of kinematic offset of the first
5-axis transf. in the channel).
The new response is identical to the current response, if the following machine data equals
zero:
MD24558/24658 $MC_TRAFO5_JOINT_OFFSET_PART_1/2 (vector kinematic offset in
table).
Basic logic functions: Tool Offset (W1)
Function Manual, 11/2006, 6FC5397-0BP10-2BA0
Vectors
l and l
1 2
l , l and l
1 2 3
Tool length is not influenced by the toolholder with orientation capability.
Machine data
MD24550/24650 $MC_TRAFO5_BASE_TOOL_1/2
MD24560/24660 $MC_TRAFO5_JOINT_OFFSET_1/2
MD24558/24658 $MC_TRAFO5_PART_OFFSET_1/2
MD24550/24650 $MC_TRAFO5_BASE_TOOL_1/2
MD24560/24660 $MC_TRAFO5_JOINT_OFFSET_1/2
.
3
2.10 Working with tool environments
and l for a toolholder with orientation capability
1 3
1
Detailed Description
and l , but only to vector
3
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