Flange Coordinate System For Single Part Tools; Single Part Tools According To The Nc Convention - Siemens SINUMERIK 840D sl Programming Manual

Coordinate systems
3.3 Flange coordinate system
Machine data
N62910 $MC_ROBX_TFLWP_POS[0]
N62910 $MC_ROBX_TFLWP_POS[1]
N62910 $MC_ROBX_TFLWP_POS[2]
N62911 $MC_ROBX_TFLWP_RPY[0]
N62911 $MC_ROBX_TFLWP_RPY[1]
N62911 $MC_ROBX_TFLWP_RPY[2]
See also
Single part tools according to the NC convention (Page 24)
Single part tools according to the Robot convention (Page 25)
Multipart tools according to the NC convention (Page 27)
Multipart tools according to the Robot convention (Page 28)
3.3.2

Flange coordinate system for single part tools

For single part tools, the reference point for the tool lengths (L1, L2, L3) and the tool rotations
of the flange coordinate system are defined as in Chapter Flange coordinate system
(Page 23) .
The parameterization for a gripper tool is explained in the following as example. A distinction is
made between single part tools according to the NC convention and the Robot convention.
3.3.2.1

Single part tools according to the NC convention

Figure 3-4
24
Z
FL
Parameterization of a single part tool using a gripper tool as example
X
FL
Y
FL
Z
TCS
SINUMERIK Run MyRobot /Direct Control
Programming Manual, 12/2018, A5E45237742B AB
Value Dimension
0 mm
0 mm
240 mm
180 Degrees
0 Degrees
180 Degrees
X
TCS
Y
TCS