Siemens SINUMERIK 840DE sl Function Manual page 210

F2: Multi-axis transformations
3.9 Orientation
Rotation vector in the BCS
For a 6-axis kinematics, in addition to the orientation of the tool, there is also a rotation of the
tool, which can be changed.
System variable
$P_TOOLROT[<i>]
$AC_TOOLR_ACT[<i>]
$AC_TOOLR_END[<i>]
$AC_TOOLR_DIFF
$VC_TOOLR[<i>]
$VC_TOOLR_DIFF
$VC_TOOLR_STAT
Orientation and rotation of the tool in the various coordinate systems (BCS, WCS, SZS)
Tool orientation
System variable
$P_TOOL_O[<i>,<j>]
$AC_TOOL_O_ACT[<i>,< j>]
$AC_TOOL_O_END[<i>,< j>]
$AC_TOOL_O_DIFF[<j>]
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Meaning
; <i> = 1, 2, 3 i-th component of the actual rotation vector in the NC
program
; <i> = 1, 2, 3 i-th component of the vector of the actual setpoint of
the orientation rotation
; <i> = 1, 2, 3 i-th component of the vector of the setpoint of the
rotation at the end of the actual block
Residual angle in degrees, i.e. this is the angle be‐
tween vectors $AC_TOOLR_END[<i>] and
$AC_TOOLR_ACT[<i>]
; <i> = 1, 2, 3 i-th component of the vector of the actual value of
the orientation rotation
Angle in degrees between the setpoint and actual
value of the orientation rotation
Status variable for the actual value of the rotation
vector
Indicates whether the actual value of the rotation
vector can be calculated. The following values are
possible:
0 The actual value of the rotation vector can be
calculated.
-1 Actual value of the rotation vector cannot be
calculated, as the presently active transforma‐
tion cannot calculate these values in real time.
Meaning
; <i> =1, 2, 3 i-th component of the actual orientation vector in the
NC program in the coordinate system <j>
; <j> = 0, 1, 2
<j> = 0:
<j> = 1:
<j> = 2:
; <i> =1, 2, 3 i-th component of the actual orientation vector in the
coordinate system <j>
; <j> = 0, 1, 2
; <i> =1, 2, 3 i-th component of the end orientation of the actual
block in the coordinate system <j>
; <j> = 0, 1, 2
; <j> = 0, 1, 2 Residual angle of the orientation vector in degrees in
various coordinate systems <j>
BCS
WCS
SZS
Function Manual, 06/2019, A5E47435470B AA
Transformations