W1: Tool offset
18.12 Working with tool environments
Basic Functions
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
1583
Kinematic transformation, toolholder with orientation capability
If a toolholder with orientation capability is taken account of during the tool length calculation, the following
vectors are included in that calculation:
In generic 5-axis transformation, the following machine data are included in the tool length calculation for
transformer types 24 and 56:
Transformation type 56 corresponds to type M for a toolholder with orientation capability.
With this 5-axis transformation in the software versions used up to now, the following vector is equivalent to the
sum of the two vectors l
1
and l
3
for a toolholder with orientation capability type M.
MD24560/24660 $MC_TRAFO5_JOINT_OFFSET_1/2 (vector of kinematic offset of the first/second 5-axis
transformation in the channel)
Only the sum is relevant for the transformation in both cases. The way, in which the two individual components
are composed, is insignificant. When calculating the tool length, however, it is relevant which component is
assigned to the tool and which is assigned to the tool table.
This explains the introduction of new machine data:
MD24558/24658 $MC_TRAFO5_JOINT_OFFSET_PART_1/2 (vector kinematic offset in table).
It is equivalent to the vector l
3
.
N70 $TC_DP5[1,1]= 5.0
N80 $TC_DP12[1,1]= 12.0 ; Wear L1
N90 $TC_DP13[1,1]= 13.0
N100 $TC_DP14[1,1]= 14.0
N110 t1 d1 g18
N120 r1 = GETTCOR(_LEN, "GW")
N130 r3 = _LEN[2] ; 17.0 (= 4.0 + 13.0)
N140 r4 = _LEN[3] ; 7.5 (= 0.5 * 3.0 + 0.5 * 12.0)
N150 r5 = _LEN[4] ; 19.0 (= 5.0 + 14.0)
N160 m30
Type Vectors
M l
1
and l
2
T l
1
, l
2
and l
3
P Tool length is not influenced by the toolholder with orientation capability.
Transforme
r type
Machine data
24 MD24550/24650 $MC_TRAFO5_BASE_TOOL_1/2
MD24560/24660 $MC_TRAFO5_JOINT_OFFSET_1/2
MD24558/24658 $MC_TRAFO5_PART_OFFSET_1/2
56 MD24550/24650 $MC_TRAFO5_BASE_TOOL_1/2
MD24560/24660 $MC_TRAFO5_JOINT_OFFSET_1/2
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