Siemens SINUMERIK 840D sl Function Manual page 100

F2: Multi-axis transformations
1.9 Orientation
The reading of the direction of rotation vector with the following system variables is only
meaningful for a 6-axis transformation.
$P_TOOLROT[n]
$AC_TOOLR_ACT[n]
$AC_TOOLR_END[n]
$AC_TOOLR_DIFF
$VC_TOOLR[n]
$VC_TOOLR_DIF
$VC_TOOLR_STAT
References: /PGA/ LHB System variables
For further information about the programming of polynomials for axis movements with
orientation vectors, see Chapter "Orientation vectors".
100
Rotation direction vector active in the interpreter not applicable
in synchronous actions
Active rotation direction vector in the interpolator
End orientation of the active block
Residual angle of the direction of rotation vector in the active
block in degrees
Actual value of the rotation direction vector
Angle between actual value and setpoint of the direction of
rotation vector in degrees
Calculation status of the actual value of the direction of rotation
vector
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions