Flange Coordinate Systems For Multipart Tools - Siemens SINUMERIK 840D sl Programming Manual

Coordinate systems
3.3 Flange coordinate system
Machine data
N62965 $MC_ROBX_TTCFL_POS[0]
N62965 $MC_ROBX_TTCFL_POS[1]
N62965 $MC_ROBX_TTCFL_POS[2]
N62966 $MC_ROBX_TTCFL_RPY[0]
N62966 $MC_ROBX_TTCFL_RPY[1]
N62966 $MC_ROBX_TTCFL_RPY[2]
N62949 $MC_ROBX_TOOL_DIR
$TC_DP3[1,1 ] (Z) length L1 (for G17)
$TC_DP4[1,1 ] (Y) length L2 (for G17)
$TC_DP5[1,1 ] (X) length L3 (for G17)
$TC_DPC1[1,1] 1st angle (rotation around Z)
$TC_DPC2[1,1] 2nd angle (rotation around Y)
$TC_DPC3[1,1] 3rd angle (rotation around X)
Note
With the setting ROBX_TOOL_DIR = 0, you define the tool direction according to the robot
convention, this means positive tool lengths are taken into account in the positive X, Y, Z axes.
See also
Flange coordinate system (Page 23)
3.3.3

Flange coordinate systems for multipart tools

For multipart tools, the tool carrier (e.g. milling spindle) must be parameterized separately in the
ROBX robot transformation. Using corresponding machine data, you can shift or rotate the tool
acceptance point with respect to the flange coordinate system. You can thus define the end
effector with reference to the flange coordinate system.
The rotation of the tool carrier coordinate system with respect to the flange coordinate system
is entered in N62966 $MC_ROBX_TCLWP_RPY[0-2].
The reference point for programming the milling tool is the tool acceptance point.
The tool is defined with the tool lengths L1, L2 and L3.
A tool rotation can be programmed using $TC_DPC1-3[1,1].
The values correspond to RPY angles A, B and C, through which the tool is rotated with respect
to the flange coordinate system. In this case, the shift is first realized across the tool lengths,
and then the rotation in the TCP.
With the setting ROBX_TOOL_DIR = 1, you define the tool direction ($TC_DP[x,x] variables)
according to the NC convention, this means positive tool lengths are taken into account in the
negative X, Y, Z axes.
26
Value
0
0
0
0
180
0
0
250
0
0
0
0
0
SINUMERIK Run MyRobot /Direct Control
Programming Manual, 12/2018, A5E45237742B AB
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