Siemens sinumerik 840D sl Function Manual page 81

Interrupts
If an illegal polynomial is programmed, the following alarms are generated:
Alarm 14136:
Alarm 14137:
Alarm 14138:
Alarm 14139:
2.8.6 Tool orientation with 3-/4-/5-axis transformations
Tool direction can be read with the following system variables:
$P_TOOLO[n]
$AC_TOOLO_ACT[n]
$AC_TOOLO_END[n]
$AC_TOOLO_DIFF
$VC_TOOLO[n]
$VC_TOOLO_DIFF
$VC_TOOLO_STAT
2.8.7 Orientation vectors with 6-axis transformation
With 6-axis transformations, the complete orientation is described by two vectors that are
perpendicular to one another.
• The first vector points in the direction of the tool (see above), while
• the second is in the plane perpendicular to this and describes rotations of the tool around
Both vectors can be read via system variables and also via the OPI interface.
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]
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0
Oreintation 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.
itself.
Tool orientation active in the interpreter cannot be applied in
sychronous actions
Active setpoint orientation in the interpolator
End orientation of the current block
Residual angle of tool orientationin the active block
Actual value orientation direction
Angle between actual and setpoint orientation
Status of calculations of actual value orientation
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
Detailed description
2.8 Orientation
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