Siemens SINUMERIK 840D sl Programming Manual page 29

Machine data
N62965 $MC_ROBX_TTCFL_POS[0]
N62965 $MC_ROBX_TTCFL_POS[1]
N62965 $MC_ROBX_TTCFL_POS[2]
N62966 $MC_ROBX_TTCFL_RPY[0]
N62966 $MC_ROBX_TTCFL_RPY[1]
N62966 $MC_ROBX_TTCFL_RPY[2]
N62949 $MC_ROBX_TOOL_DIR
$TC_DP3[1,1 ] (Z) length L1 (for G17)
$TC_DP4[1,1 ] (Y) length L2 (for G17)
$TC_DP5[1,1 ] (X) length L3 (for G17)
$TC_DPC1[1,1] 1st angle (rotation around Z)
$TC_DPC2[1,1] 2nd angle (rotation around Y)
$TC_DPC3[1,1] 3rd angle (rotation around X)
Note
With the setting ROBX_TOOL_DIR = 0, you define the tool direction according to the robot
convention, this means positive tool lengths are taken into account in the positive X, Y, Z axes.
This setting requires the following sequence of axis rotations, which is activated with the
programming command ORIVIRT1:
$MA_ORIAX_TURN_TAB_1[0]=3
$MA_ORIAX_TURN_TAB_1[1]=2
$MA_ORIAX_TURN_TAB_1[2]=1
References
Additional information on orientation tool orientation data is provided in the function description
of the ROBX transformation.
SINUMERIK Run MyRobot /Direct Control
Programming Manual, 12/2018, A5E45237742B AB
Coordinate systems
3.3 Flange coordinate system
Value Dimension
-200 mm
0 mm
-150 mm
0 Degrees
-90 Degrees
0 Degrees
0
125 mm
0 mm
0 mm
0 °
0 °
0 °
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