Tool Holder Kinematics - Siemens SINUMERIK 840D sl Programming Manual

7.8

Tool holder kinematics

7.8
Prerequisites
A toolholder can only orientate a tool in all possible directions in space if
● two rotary axes V
● the rotary axes are mutually orthogonal.
● 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
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
Job Planning
Programming Manual, 06/2009, 6FC5398-2BP20-0BA0
and V
1
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.
are present.
2
, V
1
, α at the two axes. The rotation angles are counted in viewing
1 2
7.8 Tool holder kinematics
2
or v are defined using the
1 2
, the vectoral distance
1
, the vectoral distance from the
2
.
3
.
2
Tool offsets
.
.
1
503