W1: Tool offset
18.6 Toolholder with orientation capability
Basic Functions
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
1521
18.6.7 Supplementary conditions and control system response for orientation
Full orientation
For a given data set that describes a certain kinematic, all the conceivable special orientations can only be
displayed when the following conditions are satisfied:
• The two vectors v
1
and v
2,
that describe the rotary axes, must be defined (i.e., must not be equal to zero).
• The two vectors v
1
and v
2
must be perpendicular to each other.
• The tool orientation must be perpendicular to the second rotary axis.
Non-defined orientation
If these conditions are not satisfied and an orientation that cannot be achieved by an active frame is requested
with TCOFR, an alarm is output.
Vector/angle of rotation dependencies
If vector v
1
or v
2
, which describes the direction of a rotary axis, is set to zero, the associated angle of rotation α1
or α2 must also be set to zero. Otherwise, an alarm is produced. The alarm is not output until the toolholder is
activated, i.e., when the toolholder is changed.
Tool fine compensation combined with orientation
Tool fine compensations and toolholders cannot be combined. The activation of tool fine compensation when a
toolholder is active, and vice versa the activation of the toolholder when tool fine compensation is active,
produces an alarm.
Note
For more explanations on the programming of tool compensations with toolholder kinematic
and for the system variables see:
References:
Programming Manual, Job Planning
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