Motion-Related Variables

The $AXES Variable

$\textbf{{\char36}AXES}$

String showing active axes

Type: String, Read-only

The $AXES variable displays the currently active axes in the form of a character string containing 6 characters. At any one time, CERUN will allow a maximum of 3 linear axes, 2 rotary axes and 1 additional extending or co-linear axis to be controlled. Therefore the maximum number of active axes is 6.

The characters displayed in the $AXES string are one letter abbreviations representing the axis names. Any of the axes supported by CERUN may be represented. The abbreviations are as follows:

Axes Names

Character

Axis name

X

X-axis (primary X-axis)

Y

Y-axis (primary Y-axis)

Z

Z-axis (primary Z-axis)

U

U-axis (secondary X-axis)

V

V-axis (secondary Y-axis)

W

W-axis (secondary Z-axis)

E

Extending axis

a

A'-axis table

b

B'-axis table

c

C'-axis table (or C-axis on lathe)

A

A-axis head

B

B-axis head

C

C-axis head

N

Primary nutating axis

n

Secondary nutating axis

The first three characters of $AXES display active linear axes (note that these may be XYZ primary or UVW secondary linear axes). The fourth and fifth characters display active rotary axes (including nutating axes). The sixth location is reserved for the quill (extending) axis or a co-linear axis. A “*” will be shown for any $AXES location for which there is no corresponding active axis. For example, the value of $AXES for a 3-axis mill will be “XYZ***” because the machine has neither rotary, extending or co-linear axes.

On machines where axes will be activated and deactivated, the $AXES string is useful in writing motion event macros. It can be used to determine the location in the $P2 machine coordinate sequence that applies to a given axis. (Note $P2 contains machine coordinates for active axes only). To determine if a B'-axis table is active or not, the following could be coded in a motion macro.
$$ %L01 = axis index to $P2 sequence
%L01=$FINDEX($AXES,'b')
$$ If B'-axis is active, set %L02
IF/%L01.GE.1.AND.%L01.LE.6
  $$ %L02=B'-axis machine coordinate
  %L02=$P2(%L01)
ENDOF/IF
If the $FINDEX function returns 0 (see “Character and Sequence Functions” for a description of the $FINDEX function), the axis for which the index was requested is not active and therefore it’s value will not be found in the $P2 sequence. For the case above, the $BTM macro system variable could be used to determine the location of the B'-axis.

The $AXESC2P Variable

$\textbf{{\char36}AXESC2P}$

String showing axes controlled by C2P interpolation

Type: String, Read-only

The $AXESC2P variable identifies the C2P (i.e., polar interpolation) axes in the form of a character string containing 2 characters. The characters are one letter abbreviations representing the axis names as shown in the “Axes Names” table. This string will be blank when C2P interpolation is not active.

The $C2PMCH Variable

$\textbf{{\char36}C2PMCH}$

C2P interpolation status ($TRUE or $FALSE)

Type: Logical, Read-only

The $C2PMCH variable will be set $TRUE when C2P (Cartesian to Polar Programming) interpolation mode is active on the CNC and $FALSE when C2P interpolation is not active on the CNC.

The $CHSIZ Variable

$\textbf{{\char36}CHSIZ}$

Number of available kernel channels

Type: Numeric, Read-only

The $CHSIZ variable indicates the number of kernel channels. It will have a value of 2 for a merging lathe and a value of 1 for all other machine types.

The $CI Variable

$\textbf{{\char36}CI}$

Current active kernel channel

Type: Numeric, Read-only

The $CI variable indicates the current active channel. It will have a value of 2 when processing the side head of a merging lathe and a value of 1 at all other times.

The $LCS Variable

$\textbf{{\char36}LCS}$

LCS programmed status ($TRUE or $FALSE)

Type: Logical, Read/Write

The $LCS variable will be set $TRUE when LCS (Local Coordinate System) transformation is activated and $FALSE when LCS is deactivated. The $LCS variable can be set from within a macro to change the mode.

The $LCSANG Variable

$\textbf{{\char36}LCSANG}$

LCS rotation angle parameter

Type: Numeric, Read-only

The $LCSANG variable indicates the current LCS rotation angle for CNC machines that use the “Axis” form of 3D rotation.

The $LCSCEN Variable

$\textbf{{\char36}LCSCEN}$

LCS rotation or scale center parameters

Type: Sequence, Read-only

The $LCSCEN variable indicates the current LCS {x,y,z} center of rotation or scaling.

The $LCSM Variable

$\textbf{{\char36}LCSM}$

Local coordinate system machine status ($TRUE or $FALSE)

Type: Logical, Read-only

The $LCSM variable indicates the current LCS activation state on the machine. It will be $TRUE when any form of LCS transformation is active on the machine and will be $FALSE otherwise.

The $LCSMIR Variable

$\textbf{{\char36}LCSMIR}$

LCS mirror parameters

Type: Sequence, Read-only

The $LCSMIR variable indicates the current LCS {x,y,z} mirror parameters. A parameter value of 1 indicates that mirroring is in effect; a parameter value of 0 (zero) indicates no mirroring.

The $LCSMTN Variable

$\textbf{{\char36}LCSMTN}$

Effect of LCS on machine rotary axes (–1-3)

Type: Numeric, Read/Write

The $LCSMTN variable indicates if and how LCS affects the rotary axes of the machine when LCS is activated. If the value is –1, then LCS is not capable of moving the rotary axes and attempting to set this variable to any other value will result in a diagnostic.

–1:

LCS generated motions are not available – adjust frame only

0:

no motion – adjust frame only

1:

rotary-only motion

2:

rotary motion around tool-tip (i.e., RTCP motion)

3:

method 1 or 2 depending on current RTCP state

The $LCSMX Variable

$\textbf{{\char36}LCSMX}$

Current LCS transformation matrix

Type: Sequence, Read-only

The $LCSMX variable contains a sequence of 12 parameters defining the LCS transformation matrix (see “Matrix Functions” for a description of the matrix parameters).

The $LCSORD Variable

$\textbf{{\char36}LCSORD}$

String identifying $LCSROT values

Type: String, Read-only

This string variable identifies the contents of the $LCSROT sequence variable. When $LCSROT contains the ijk vector of the LCS axis of rotation, then $LCSORD will be the string “IJK”. When $LCSROT contains a sequence of angles rotating in some order around the X, Y and Z axes, then $LCSROT will be a 2 or 3-character string “xxx” where each character “x” in the string will be one of the letters A, B or C representing rotation about the X, Y or Z axes respectively.

The $LCSROT Variable

$\textbf{{\char36}LCSROT}$

LCS rotation parameters

Type: Sequence, Read-only

The $LCSROT variable indicates the current LCS {i,j,k} axis of rotation for CNC machines that use the “Axis” form of 3D rotation. Otherwise this variable contains 3 rotation values based on the form of LCS rotation being used.

The $LCSSCA Variable

$\textbf{{\char36}LCSSCA}$

LCS scale parameters

Type: Sequence, Read-only

The $LCSSCA variable indicates the current LCS {x,y,z} scale parameters.

The $LCSTRA Variable

$\textbf{{\char36}LCSTRA}$

LCS translation parameters

Type: Sequence, Read-only

The $LCSTRA variable indicates the current LCS {x,y,z} translation amounts.

The $PLMODE Variable

$\textbf{{\char36}PLMODE}$

Plane mode. (<1:? 1:XY 2:ZX 3:YZ)

Type: Numeric, Read/Write

The $PLMODE variable contains the current plane mode in effect for cutter compensation, circular interpolation and cycles. If the value is less than one (1) then the mode is unknown.

The $PNMODE Variable

$\textbf{{\char36}PNMODE}$

Positioning mode. (<0:? 0:Absolute 1:Incremental)

Type: Numeric, Read/Write

The $PNMODE variable contains the current absolute or incremental positioning mode of the machine. If the value is less than zero (0) then the mode is unknown.

The $RAPID Variable

$\textbf{{\char36}RAPID}$

RAPID flag ($TRUE if in RAPID mode)

Type: Logical, Read/Write

The $RAPID variable indicates whether or not the next motion will be at rapid.

The $ROBCFGM Variable

$\textbf{{\char36}ROBCFGM}\textbf{(}\mathit{index}\textbf{)}$

Robot shoulder, elbow and wrist configuration

Type: Minor Word, Read/Write

The $ROBCFGM array variable sets a preference, where available, between the different possible robot shoulder, elbow and wrist configurations. The preference is defined using a keyword, as follows:

$ROBCFGM(1)

RIGHT or LEFT

$ROBCFGM(2)

DOWN or UP

$ROBCFGM(3)

FRONT or REAR

The $ROBCFGN Variable

$\textbf{{\char36}ROBCFGN}\textbf{(}\mathit{index}\textbf{)}$

Robot shoulder, elbow and wrist configuration

Type: Numeric, Read/Write

The $ROBCFGN array variable sets a preference, where available, between the different possible robot shoulder, elbow and wrist configurations. The preference is defined using a numeric value, as follows:

$ROBCFGN(1)

0:RIGHT or 1:LEFT

$ROBCFGN(2)

0:DOWN or 1:UP

$ROBCFGN(3)

0:FRONT or 1:REAR

The $SKIPCOD Variable

$\textbf{{\char36}SKIPCOD}$

Skip-code function status (0:off, 1:active)

Type: Numeric, Read/Write

The $SKIPCOD variable indicates the current probe “skip code” status. A value of 0 indicates that skip code processing is not active; a value of 1 indicates the function is active. When active and Virtual Machine simulation has a probe enabled, a probe touch event stops further axis motion for the current block.

The $SKIPERR Variable

$\textbf{{\char36}SKIPERR}$

Skip-code function error (0:none, 1:touch, 2:miss)

Type: Numeric, Read-only

The $SKIPERR variable indicates the probe “skip code” state recorded at the end of the last motion. A value of 0 indicates no error. When active and Virtual Machine simulation is enabled, a value of 1 indicates a touch event occurred and a value of 2 indicates that a touch event did not occur.

The $TCP Variable

$\textbf{{\char36}TCP}$

RTCP status ($TRUE or $FALSE)

Type: Logical, Read/Write

The $TCP variable will be set $TRUE when RTCP (Rotating Tool Center-point Programming) is activated and $FALSE when RTCP is deactivated. The $TCP variable can be set from within a macro to change the mode.

The $TCPFMT Variable

$\textbf{{\char36}TCPFMT}$

RTCP format (0:None, 1:Axes, n:Other)

Type: Numeric, Read/Write

The $TCPFMT variable defines how rotary information is interpreted when RTCP is active. The default format is defined in QUEST and can be controlled using the CODE_RTCP_ORIENT_* codes (if available). You can also set the $TCPFMT variable to change the format “n”, as follows:

1:

Input true rotary axes values

2:

Input machine tool axis vector

3:

Input tool-tip and tool-top points (dual curve) to define angle

4:

Input RPY (roll-pitch-yaw) angle

5:

Input Euler angles

6:

Input custom virtual axes as defined by QUEST

The $TCPSET Variable

$\textbf{{\char36}TCPSET}$

RTCP method (1-2)

Type: Numeric, Read/Write

The $TCPSET variable indicates and can set the RTCP method on machines where there are multiple RTCP methods defined (QUEST Control Description / Advanced 5D Machining / RTCP question #100.1).

The $TCPSIM and $TCPSIMR Variables

$\textbf{{\char36}TCPSIM}$

RTCP feed interpolation (0:Standard, 1:Pole, 2:TTO, 3:None)

Type: Numeric, Read/Write

$\textbf{{\char36}TCPSIMR}$

RTCP rapid positioning (0:Standard, 1:Pole, 2:TTO, 3:None)

Type: Numeric, Read/Write

The $TCPSIM variable defines how CERUN (and Virtual Machine if used) will interpolate feed motions while in RTCP mode. The $TCPSIMR variable defines how rapid motions are interpolated while in RTCP mode. The default setting is defined in QUEST.

0:

Full linearization

1:

Apply singularity cone (Siemens 840D) not available at present

2:

Shortest rotary solution with tool tip linearization (Fanuc G43.4)

3:

Shortest rotary solution with no linearization (Fanuc G43.1)