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 angles of rotation α1, α2 around the two axes. The rotation angles are counted in
viewing direction of the rotary axis vectors, positive, in clockwise direction of rotation.
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 x component y component z 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]
Work preparation
3.13 Tool offsets
NC programming
778 Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
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