Supplementary Conditions And Control System Response For Orientation - Siemens SINUMERIK 840D sl Function Manual

W1: Tool offset
2.8 Tool carriers with orientation capability
Canceling all toolholder data blocks
All values of all toolholder data sets can be deleted from within the part program using one
command.
$TC_CARR1[0] = 0
Values not set by the user are preset to 0.
Activation
A toolholder becomes active when both a toolholder and a tool have been activated. The
selection of the toolholder alone has no effect. The effect of selecting a toolholder depends on
the G command TCOABS / TCOFR (modal G group for toolholders).
Changing the G command in the TCOABS / TCOFR group causes recalculation of the tool length
components when the toolholder is active. With TCOABS, the values stored in the toolholder
data for both angles of rotation α1 and α2 are used to determine the tool orientation.
With TCOFR, the two angles are determined from the current frame. The values stored in the
toolholder data are not changed, however. These are also used to resolve the ambiguity that
can result when the angle of rotation is calculated from one frame. Here, the angle that deviates
least from the programmed angle is selected from the various possible angles.
Note
For more explanations on the programming of tool offsets with tool carrier kinematic and for the
system variables see:
Further information
Programming Manual Advanced
2.8.9

Supplementary conditions and control system response for orientation

Full orientation
For a given data set that describes a certain kinematic, all the conceivable special orientations
can only be displayed when the following conditions are satisfied:
● The two vectors v
vectors must not be equal to zero).
● The two vectors v
● The tool orientation must be perpendicular to the second rotary axis.
Non-defined orientation
If these conditions are not satisfied and an orientation that cannot be achieved by an active
frame is requested with TCOFR, an alarm is output.
Vector/angle of rotation dependencies
130
and v that describe the rotary axes must also be defined (i.e. both
1 2
and v must be perpendicular to each other.
1 2
Function Manual, 06/2019, A5E47435126B AA
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