Tool offsets
7.8 Tool holder kinematics
Job planning
Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
435
Parameters
Function of the system variables for orientable toolholders
Designation x component y component y component
l
1
offset vector $TC_CARR1[m] $TC_CARR2[m] $TC_CARR3[m]
l
2
offset vector $TC_CARR4[m] $TC_CARR5[m] $TC_CARR6[m]
v
1
rotary axis $TC_CARR7[m] $TC_CARR8[m] $TC_CARR9[m]
v
2
rotary axis $TC_CARR10[m] $TC_CARR11[m] $TC_CARR12[m]
α
1
angle of rotation
α
2
angle of rotation
$TC_CARR13[m]
$TC_CARR14[m]
l
3
offset vector $TC_CARR15[m] $TC_CARR16[m] $TC_CARR17[m]
Extensions of the system variables for orientable toolholders
Name x component y component z component
l
4
offset vector $TC_CARR18[m] $TC_CARR19[m] $TC_CARR20[m]
Axis identifier
rotary axis v
1
rotary axis v
2
Axis identifier of the rotary axes v
1
and v
2
(initialized with zero)
$TC_CARR21[m]
$TC_CARR22[m]
$TC_CARR23[m]
Kinematics type T -> Kinematics type P -> Kinematics type M
Kinematic type
Tool
Part
Mixed mode
Only the tool can rotate
(default).
Only the part can rotate Part and tool can rotate
Offset of the
rotary axis v
1
rotary axis v
2
Angle in degrees of the rotary axes v
1
and v
2
on assuming the initial setting
$TC_CARR24[m]
$TC_CARR25[m]
Angle offset of
the rotary axis v
1
rotary axis v
2
Offset of the Hirth tooth system in degrees for rotary axes v
1
and v
2
$TC_CARR26[m]
$TC_CARR27[m]
Angle increment
v
1
rotary axis
v
2
rotary axis
Offset of the Hirth tooth system in degrees for rotary axes v
1
and v
2
$TC_CARR28[m]
$TC_CARR29[m]
Min. position
rotary axis v
1
rotary axis v
2
Software limit for the minimum position of the rotary axes v
1
and v
2
$TC_CARR30[m]
$TC_CARR31[m]
Max. position
rotary axis v
1
rotary axis v
2
Software limits for the maximum position of the rotary axes v
1
and v
2
$TC_CARR32[m]
$TC_CARR33[m]
Toolholder name A toolholder can be given a name instead of a number. $TC_CARR34[m]
Intended use in user measuring cycles
$TC_CARR35[m]
$TC_CARR36[m]
$TC_CARR37[m]
User:
Axis name 1
Axis name 2
Identifier
Position
$TC_CARR38[m] $TC_CARR39[m] $TC_CARR40[m]
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