Detailed Description
2.6 Incrementally programmed compensation values
Tool Compensation (W1)
2-108 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
The following applies to orientations specified in a frame:
• The orientation specified in a frame must be achievable with the defined toolholder
kinematics, otherwise an alarm is output.
This situation can occur if the two rotary axes required to define the kinematics are not
perpendicular to each other.
This applies if fewer than two rotary axes are defined and is the case:
– With kinematic type T with rotary tool, if the tool axis, which defines the tool direction, is
not perpendicular to the second axis.
– With kinematic types M and P with rotary workpiece, if the tool axis, which defines the
tool direction, is not perpendicular to the first axis.
• Rotary axes, which require a frame with a defined tool orientation in order to reach a
specific position, are only determined unambiguously in the case of one rotary axis. Two
general solutions exist for two rotary axes.
• In all cases where ambiguities may arise, it is particularly important that the approximate
angles expected from the frame are stored in the tool data, and that the rotary axes are in
the vicinity of the expected positions.
Response with ASUP, REPOS
The toolholder can be changed in an asynchronous subprogram (ASUB). When the
interrupted program is resumed with REPOS, the approach motion of the new toolholder is
taken into account and the program continues with this motion. The treatment here is
analogous to tool change in an ASUB.
References:
/FB1/ Description of Functions, Basic Machine; Mode Group, Channel, Program Operation,
Reset Response (K1)
2.6 2.6 Incrementally programmed compensation values
2.6.1 G91 extension
Prerequisites
Incremental programming with G91 is defined such that the compensation value is traversed
additively to the incrementally programmed value when a tool compensation is selected.
Applications
For applications such as scratching, it is necessary only to traverse the path programmed in
the incremental coordinates. The activated tool compensation is not traversed.
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