System Variable For Tool Orientation - Siemens SINUMERIK 840DE sl Function Manual

Alarms
An illegally programmed polynomial is signaled with the following alarms:
Alarm 14136:
Alarm 14137:
Alarm 14138:
Alarm 14139:
3.9.7

System variable for tool orientation

The tool orientation can be read in various coordinate systems (BCS, WCS, SZS) via system
variables as well as also via OPI variables.
Tool orientation in BCS
System variable
$AC_TOOLO_ACT[<i>]
$AC_TOOLO_END[<i>]
$AC_TOOLO_DIFF
$VC_TOOLO[<i>]
$VC_TOOLO_DIFF
$VC_TOOLO_STAT
These system variables can always be read by the part program as well as in synchronized
actions. Write access operations are not permitted.
Note
The components of vectors $AC_TOOLO_ACT[<i>], $AC_TOOLO_END[<i>] and
$VC_TOOLO[<i>] of the orientation are scaled so that the orientation vector has the absolute
value of 1.
Transformations
Function Manual, 06/2019, A5E47435470B AA
Orientation polynomial is generally not allowed.
Polynomials PO[PHI] and PO[PSI] are not permitted.
Polynomials PO[XH], PO[YH], PO[ZH] are not permitted.
Polynomial for angle of rotation PO[THT] is not permitted.
; <i> = 1, 2, 3
; <i> = 1, 2, 3
; <i> = 1, 2, 3
F2: Multi-axis transformations
Meaning
i-th component of the vector of the actual reference
orientation
i-th component of the vector of the end orientation of
the actual block
Residual angle in degrees, i.e. this is the angle be‐
tween vectors $AC_TOOLO_END[<i>] and
$AC_TOOLO_ACT[<i>]
i-th component of the vector of the actual orientation
Angle in degrees between reference and actual val‐
ue orientation
Status variable for actual orientation
Indicates whether the actual orientation can be cal‐
culated. The following values are possible:
0 Actual orientation can be calculated.
-1 Actual orientation cannot be calculated, as the
presently active transformation cannot calcu‐
late these values in real time.
3.9 Orientation
209