Siemens sinumerik 840D sl Function Manual page 82

Detailed description
2.9 Orientation axes
$VC_TOOLR_DIF
$VC_TOOLR_STAT
References: /PGA/ LHB System variables
For further information about the programming of polynomials for axis movements with
orientation vectors, see Chapter "Orientation vectors".
2.9 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
2. Second rotation around the axis of the reference system, defined in the following machine
3. Third rotation around the axis of the reference system, defined in the following machine
Direction of the tool vector
The direction of the tool vector in the initial machine setting is defined in the following
machine data:
MD24580 $MC_TRAFO5_TOOL_VECTOR_1 (orientation vector direction) or
MD24680 $MC_TRAFO5_TOOL_VECTOR_2 (orientation vector direction)
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data:
MD21120 $MC_ORIAX_TURN_TAB_1[0]
data:
MD21120 $MC_ORIAX_TURN_TAB_1[1]
data:
MD21120 $MC_ORIAX_TURN_TAB_1[2]
Angle between actual value and setpoint of the direction of
rotation vector in degrees
Calculation status of the actual value of the direction of
rotation vector
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0