Siemens SINUMERIK 828D Function Manual page 99

Reference point at the tool
Taking into account the tool data (tool length and tool radius) and therefore the reference point at the tool when
monitoring the working area limitation depends on the status of the transformation in the channel:
• Transformation inactive
Without transformations during traversing motion with an active tool the position of the tool tip P is monitored,
i.e. during the monitoring the tool length is considered automatically.
Consideration of the tool radius must be activated separately:
MD21020 $MC_WORKAREA_WITH_TOOL_RADIUS (Consideration of the tool radius in the working area
limitation)
• Transformation active
In the case of certain transformations the monitoring of the working area limitation may differ from the
behavior without transformation:
- The tool length is a component of the transformation
($MC_TRAFO_INCLUDES_TOOL_X = TRUE):
In this case the tool length is not considered, i.e. the monitoring refers to the tool carrier reference point.
- Transformation with change in orientation:
In the case of transformations with changes in orientation, monitoring is always based on the tool center
point. MD21020 has no influence.
Response
Automatic operating modes
• With / without transformation
The parts program block with a programmed traversing motion that would lead to overrunning of the working
area limits is not executed.
• With superimposed motion
The axis, which would violate the working area limitation due to a superimposed motion, is braked with
maximum acceleration and without jerk limits (BRISK), and will come to a stop in the position of the working
area limitation. Other axes involved in the movement are braked according to current acceleration behavior
(e.g. SOFT). The path correlation may be lost due to different braking accelerations (contour violation).
Basic Functions
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
Note
The machine data $MC_TRAFO_INCLUDES_TOOL_... is analyzed only in certain
transformations. Condition for a possible evaluation is that the orientation of the tool
with respect to the base coordinate system cannot be changed by the transformation.
With standard transformations, the condition is only fulfilled for the "inclined axis" type
of transformation.
A3: Axis Monitoring, Protection Zones
2.2 Axis monitoring
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