Detailed Description
2.4 Frames
Axis Types, Coordinate Systems, Frames (K2)
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
2-107
Example
Example of using an orientational toolholder with deactivated kinematics:
N10 $TC_DP1[1,1]= 120
N20 $TC_DP3[1,1]=13 ; Tool length 13 mm
; Definition of toolholder 1:
N30 $TC_CARR1[1] = 0 ; X components of 1st offset vector
N40 $TC_CARR2[1] = 0 ; Y components of 1st offset vector
N50 $TC_CARR3[1] = 0 ; Z components of 1st offset vector
N60 $TC_CARR4[1] = 0 ; X components of 2nd offset vector
N70 $TC_CARR5[1] = 0. ; Y components of 2nd offset vector
N80 $TC_CARR6[1] = -15. ; Z components of 2nd offset vector
N90 $TC_CARR7[1] = 1 ; X components of 1st axis
N100 $TC_CARR8[1] = 0 ; Y components of 1st axis
N110 $TC_CARR9[1] = 0 ; Z components of 1st axis
N120 $TC_CARR10[1] = 0 ; X components of 2nd axis
N130 $TC_CARR11[1] = 1 ; Y components of 2nd axis
N140 $TC_CARR12[1] = 0 ; Z components of 2nd axis
N150 $TC_CARR13[1] = 30. ; Angle of rotation of 1st axis
N160 $TC_CARR14[1] = -30. ; Angle of rotation of 2nd axis
N170 $TC_CARR15[1] = 0 ; X components of 3rd offset vector
N180 $TC_CARR16[1] = 0 ; Y components of 3rd offset vector
N190 $TC_CARR17[1] = 0 ; Z components of 3rd offset vector
N200 $TC_CARR18[1] = 0 ; X components of 4th offset vector
N210 $TC_CARR19[1] = 0 ; Y components of 4th offset vector
N220 $TC_CARR20[1] = 15. ; Z components of 4th offset vector
N230 $TC_CARR21[1] = A ; Reference for 1st axis
N240 $TC_CARR22[1] = B ; Reference for 2nd axis
N250 $TC_CARR23[1] = "M" ; Toolholder type
N260 X0 Y0 Z0 A0 B45 F2000
N270 TCARR=1 X0 Y10 Z0 T1 TCOABS ; Selection of orient. toolholder
N280 PAROT ; Rotation of table
N290 TOROT ; Rotation of z axis in tool orient.
N290 X0 Y0 Z0
N300 G18 MOVT=AC(20) ; Processing in G18 plane
N310 G17 X10 Y0 Z0 ; Processing in G17 plane
N320 MOVT=-10
N330 PAROTOF ; Deactivate rotation of table
N340 TOROTOF ; No longer align WCS with tool
N400M30
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