Siemens SINUMERIK 840D sl Programming Manual page 504

Tool offsets
7.8 Tool holder kinematics
For machines with resolved kinematics (both the tool and the part can rotate), the system
variables have been extended with the entries
● $TC_CARR18[m] to $TC_CARR23[m].
Parameters
Function of the system variables for orientable toolholders
Designation
l offset vector
1
l offset vector
2
v rotary axis
1
v rotary axis
2
α
1
rotation
α
2
rotation
l offset vector
3
504
x component
$TC_CARR1[m]
$TC_CARR4[m]
$TC_CARR7[m]
$TC_CARR10[m]
angle of $TC_CARR13[m]
$TC_CARR14[m]
angle of
$TC_CARR15[m]
y component
$TC_CARR2[m]
$TC_CARR5[m]
$TC_CARR8[m]
$TC_CARR11[m]
$TC_CARR16[m]
Programming Manual, 06/2009, 6FC5398-2BP20-0BA0
y component
$TC_CARR3[m]
$TC_CARR6[m]
$TC_CARR9[m]
$TC_CARR12[m]
$TC_CARR17[m]
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