Siemens SINUMERIK 840D sl Programming Manual page 36

Programming
4.3 Orientation programming
Actual value display in SINUMERIK Operate:
WCS actual value
Example, orientation programming (ORIMKS) with active tool
The following programming example shows orientation programming in the workpiece
coordinate system (ORIWKS) with active tool (configuration see Chapter Multipart tools
according to the Robot convention (Page 28)).
;$P_UIFR[1]=CTRANS(X,1669,Y,0,Z,490):CROT(X,0,Y,0,Z,90)
N12 T="T8MILLD20" D1 ; $TC_DP3[1,1]=135
N13 ORIWKS
N14 ORIVIRT1
N15 TRAORI
N16 G54
N17 G1 X0 Y-71 Z959 A=0 B=0 C=-90 F2000
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MCS actual value
SINUMERIK Run MyRobot /Direct Control
Programming Manual, 12/2018, A5E45237742B AB