Siemens SINUMERIK 840D sl Function Manual page 99

The following kinematics cannot achieve any orientation:
● If the two rotary axes which are necessary to define the kinematics are not perpendicular to
each other and if the tool axis which defines the tool direction is not perpendicular to the
second rotary axis
or
● Less than two axes have been defined
Non-rotary toolholders
The tool orientation used internally is dependent only on the basic orientation of the tool and the
active plane (G17 - G19).
Ambiguities
With two axes, a particular tool orientation defined by the frame can generally be set with two
different rotary angle pairs. Of these two, the control selects the setting with which the rotary
angle is as close as possible to the programmed rotary angle.
Storing angles in the toolholder data
In virtually any case where ambiguities may arise, it is necessary to store the approximate angle
expected from the frame in the toolholder data.
Parameter sets
A complete parameter set for a toolholder with orientation capability consists of 33 values.
The following system variables are available:
● $TC_CARR1 to $TC_CARR33
● In addition, $TC_CARR34 to $TC_CARR65 are freely available for the user and for fine
offsets.
The significance of the individual parameters is distinguished as follows:
Machine kinematics:
$TC_CARR1 to $TC_CARR20 and $TC_CARR23
$TC_CARR18 to $TC_CARR20 define a further vector l
machine with extended kinematics (both tool and workpiece can be rotated).
$TC_CARR21 and $TC_CARR22 contain the channel-axis names of the rotary axes, the
positions of which can be used to determine the orientation of the toolholder with orientation
capability, if necessary.
Kinematic type:
$TC_CARR23 using letter T, P or M
The following three options are available for the kinematic type, for which both upper and lower
case text are permissible:
T:
P:
M:
Tools
Function Manual, 06/2019, A5E47435126B AA
Only the (Tool) can be rotated (basic value).
Only the workpiece (Part) can be rotated.
Both tool and workpiece can be rotated (Mixed mode).
2.8 Tool carriers with orientation capability
which is needed to describe the
4,
W1: Tool offset
99