Tool offsets
7.8 Tool holder kinematics
Job planning
434 Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
7.8 Tool holder kinematics
Prerequisites
A toolholder can only orientate a tool in all possible directions in space if
● two rotary axes
V
1
and V
2
are present.
● the rotary axes are mutually orthogonal.
● the tool longitudinal axis is perpendicular to the second rotary axis
V
2
.
In addition, the following requirement is applicable to machines for which all possible
orientations have to be settable:
● the tool longitudinal axis must be perpendicular to the first rotary axis
V
1
.
Function
The toolholder kinematics with a maximum of two rotary axes v
1
or v
2
are defined using the
17 system variables
$TC_CARR1[m] to $TC_CARR17[m]. The description of the toolholder
consists of:
● the vectoral distance from the first rotary axis of the toolholder
I
1
, the vectoral distance
from the first rotary axis to the second rotary axis
I
2
, the vectoral distance from the
second rotary axis to the reference point of the tool
I
3
.
● the direction vectors of both rotary axes
V
1
, V
2
.
● the rotational angles
α
1
, α
2
at the two axes. The rotation angles are counted in viewing
direction of the rotary axis vectors, positive, in clockwise direction of rotation.
O
O
O
˞
˞
9
9
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].
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