Multipart Tools According To The Robot Convention - Siemens SINUMERIK 840D sl Programming Manual
Sinumerik run myrobot /direct control
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Also See for SINUMERIK 840D sl:
- Function manual (2184 pages) ,
- Programming manual (1334 pages) ,
- Commissioning manual (1102 pages)
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Coordinate systems
3.3 Flange coordinate system
Machine data
$TC_DPC2[1,1] 2nd angle (rotation around Y)
$TC_DPC3[1,1] 3rd angle (rotation around X)
Note
With the setting ROBX_TOOL_DIR = 1, you define the tool direction according to the NC
convention, this means positive tool lengths are taken into account in the negative X, Y, Z axes.
This setting requires the following sequence of axis rotations, which is activated with the
programming command ORIVIRT1:
$MA_ORIAX_TURN_TAB_1[0]=1
$MA_ORIAX_TURN_TAB_1[1]=2
$MA_ORIAX_TURN_TAB_1[2]=3
References
Additional information on orientation tool orientation data is provided in the function description
of the ROBX transformation.
3.3.3.2
Multipart tools according to the Robot convention
Figure 3-7
28
Z
FL
X
TC
Parameterizing a multipart tool using a milling spindle as example
X
FL
Y
FL
Z
TC
Y
TCS
X
TCS
Z
TCS
SINUMERIK Run MyRobot /Direct Control
Programming Manual, 12/2018, A5E45237742B AB
Value
Dimension
0
°
0
°
Y
TC
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