Tool Carrier With Kinematic Chains - Siemens SINUMERIK 840D sl Function Manual

W1: Tool offset
2.8 Tool carriers with orientation capability
Note
The required data cannot be determined unequivocally from the geometry of the toolholder, i.e.
the user is free to a certain extent to decide the data to be stored. Thus, for the example, it is
possible to specify only one z component for the tool base dimension up to the second axis. In
this case, l
between this point on the second axis and a further point on the first axis. The point on the first
axis can also be selected freely. Depending on the point selected, l
the reference point (which can also be selected freely) is reached.
In general: Vector components that are not changed by rotation of an axis can be distributed
over any vectors "before" and "after" rotation.
2.8.3

Tool carrier with kinematic chains

Modeling tool carriers with kinematic chains
On machines whose structures are defined with kinematic chains, machine parts that act as
tool carriers can also be described using kinematic chains. Identical geometry data for
kinematic chains and tool carriers can be managed jointly.
Two kinematic chains are required to define the machine kinematics.
● One chain points from machine zero (zero point of world coordination system) to the
workpiece reference point (workpiece part).
● The other chain points from machine zero to the tool carrier reference point (tool part).
● You will find information about kinematic chains in the Function Manual "Special functions"
under "K7: Kinematic chain".
Three different kinematic types are available for tool carriers, which are parametrized via
$TC_CARR23.
The following graphics show an example of the kinematics of a machine with rotatable tool (type
T) and rotatable workpiece (type P) and the resolved kinematics (type M). The resolved
kinematics (type M) is a combination of both types.
110
would no longer be zero, but would contain the components of the distance
2
must be selected such that
1
Function Manual, 06/2019, A5E47435126B AA
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