System Variable For Tool Orientation - Siemens SINUMERIK 840D sl Function Manual

2.9.7

System variable for tool orientation

The tool orientation can be read in various coordinate systems (BCS, WCS, SZS) via system
variables as well as also via OPI variables.
Tool orientation in BCS
System variable
$AC_TOOLO_ACT[<i>]
$AC_TOOLO_END[<i>]
$AC_TOOLO_DIFF
$VC_TOOLO[<i>]
$VC_TOOLO_DIFF
$VC_TOOLO_STAT
These system variables can always be read by the part program as well as in synchronized
actions. Write access operations are not permitted.
Note
The components of vectors $AC_TOOLO_ACT[<i>], $AC_TOOLO_END[<i>] and
$VC_TOOLO[<i>] of the orientation are scaled so that the orientation vector has the absolute
value of 1.
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>]
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Meaning
; <i> = 1, 2, 3 i-th component of the vector of the actual reference
orientation
; <i> = 1, 2, 3 i-th component of the vector of the end orientation
of the actual block
Residual angle in degrees, i.e. this is the angle be‐
tween vectors $AC_TOOLO_END[<i>] and
$AC_TOOLO_ACT[<i>]
; <i> = 1, 2, 3 i-th component of the vector of the actual orientation
Angle in degrees between reference and actual val‐
ue orientation
Status variable for actual orientation
Indicates whether the actual orientation can be cal‐
culated. The following values are possible:
0 Actual orientation can be calculated.
-1 Actual orientation cannot be calculated, as the
presently active transformation cannot calcu‐
late these values in real time.
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
F2: Multi-axis transformations
2.9 Orientation
101