Orientation Axes - Siemens SINUMERIK 840D sl Function Manual

System variable
$AC_TOOL_R_ACT[<i>,<j>]
$AC_TOOL_R_END[<i>,<j>]
$AC_TOOL_R_DIFF[<j>]
$VC_TOOL_R[<i>,<j>]
$VC_TOOL_R_DIFF[<j>]
Boundary conditions
Not all transformations provide the actual value of the tool orientation in real time. In this case,
variables $VC_TOOLO[<i>] or VC_TOOL_O[<i>] and $VC_TOOLO_DIFF or
$VC_TOOL_O_DIFF cannot be calculated. The components of $VC_TOOLO[<i>] or
$VC_TOOL_O[<i>] are all zero, and status variable $VC_TOOLO_STAT supplies the value
"-1". The same is true for the actual values of the rotation vector $VC_TOOLR[<i>] or
$VC_TOOL_R[<i>,<j>].
2.10

Orientation axes

Direction
The directions around which axes are rotated are defined by the axes of the reference system.
In turn, the reference system is defined by ORIMKS and ORIWKS commands:
● ORIMKS : Reference system = Basic coordinate system
● ORIWKS: Reference system = Workpiece coordinate system
Order of rotation
The order of rotation for the orientation axes is defined by the following machine data:
MD21120 $MC_ORIAX_TURN_TAB_1[0..2] (definition of reference axes for ORI axes)
1. First rotation around the axis of the reference system, defined in the following machine data:
MD21120 $MC_ORIAX_TURN_TAB_1[0]
2. Second rotation around the axis of the reference system, defined in the following machine
data:
MD21120 $MC_ORIAX_TURN_TAB_1[1]
3. Third rotation around the axis of the reference system, defined in the following machine
data:
MD21120 $MC_ORIAX_TURN_TAB_1[2]
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
; <i> =1, 2, 3 i-th component of the actual rotation vector in the
coordinate system <j>
; <j> = 0, 1, 2
; <i> =1, 2, 3 i-th component of the rotation vector at the end of
the actual block in the coordinate system <j>
; <j> = 0, 1, 2
; <j> = 0, 1, 2 Residual angle of the rotation vector in degrees in
various coordinate systems <j>
; <i> =1, 2, 3 i-th component of the actual value of the rotation
vector in various coordinate systems <j>
; <j> = 0, 1, 2
; <j> = 0, 1, 2 Angle in degrees between reference and actual val‐
ue of the rotation vector in various coordinate sys‐
tems <j>
F2: Multi-axis transformations
2.10 Orientation axes
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