Status information on tool orientation
The three vectors
- path tangent vector (tb_vec)
- normal vector to path (tn_vec)
- face normal vector (fn_vec)
form a complete clockwise spatial coordinate system (moving trihedron).
Notice
Configuration of the tool direction vector
When tool geometry compensation is active and when machining with the face of the tool, the result is the tool direction vector ori_vec obtained from the face normal vector fn_vec, the path tangent vector tb_vec and the advance and lateral angle.
The vectors of the tool coordinate system are integrated in the data structure HLI_TOOL_PATH_DISP_DATA. The tables below contain the description of the elements for this data structure:
Tool direction vector | |
Description | Components of the tool direction vector and recalculation from face normal vector and path tangent vector (see Figure). |
ST Element | gpCh[channel_idx]^.bahn_state.tool_path_r.ori_vec[vec_idx] |
Data type | ARRAY [0..HLI_CS_AXES_MAXIDX] OF DINT |
Peculiarities | The direction vector is normalised to length 106. |
Path tangent vector | |
Description | Components of the path tangent vector (see Figure). |
ST Element | gpCh[channel_idx]^.bahn_state.tool_path_r.tb_vec[vec_idx] |
Data type | ARRAY [0..HLI_CS_AXES_MAXIDX] OF DINT |
Peculiarities | The direction vector is normalised to length 106. The last valid motion direction is retained. |
Normal vector to the path tangent | |
Description | Components of the resulting vector, cross product of ori_vec × tb_vec, or cross product of fn_vec × tb_vec (see Figure). |
ST Element | gpCh[channel_idx]^.bahn_state.tool_path_r.tn_vec[vec_idx] |
Data type | ARRAY [0..HLI_CS_AXES_MAXIDX] OF DINT |
Peculiarities | The direction vector is normalised to length 106. |
Auxiliary vector of the complete trihedron, face normal vector | |
Description | Components of the resulting vector, cross product of tb_vec × tn_vec, or face normal vector (see Figure). |
ST Element | gpCh[channel_idx]^.bahn_state.tool_path_r.fn_vec[vec_idx] |
Data type | ARRAY [0..HLI_CS_AXES_MAXIDX] OF DINT |
Peculiarities | The direction vector is normalised to length 106. |