System variable Meaning
$P_ORI_SOL If for an orientation transformation with more than one orientation axis, the axis
angles are calculated that should result in a specified orientation, there is generally
more than one solution. The $P_ORI_SOL system variables contain the number of
valid solutions together with additional status information.
The content of $P_ORI_SOL is coded as follows:
Values < 0 General error states
-1 No solutions have been calculated yet for the active transfor‐
mation (missing call of ORISOLH).
-2 A transformation is not active, or the active transformation is
not an orientation transformation (6-axis transformation) that
can provide positions for a specified orientation programming.
-4 The desired orientation cannot be set with the present kine‐
matics.
-5 No solution was found when the ORISOLH function was called
in the "Direct tool alignment" mode.
-6 Angle γ is too large when the ORISOLH function was called in
the "Direct tool alignment" mode.
-7 An angle was specified when the ORISOLH function was
called in the "Direct tool alignment" mode that cannot be set
because of the Hirth joint.
-8 The first orientation axis (frame axis) must not be parameter‐
ized as Hirth axis.
-9 The second as well as the third rotary axis has been parame‐
terized as Hirth axis. Only one of the two axes can be the Hirth
axis.
-10 No adaptation of the solution(s) to the Hirth joint has been
found.
Values > 0
Unit position
Number of mathematically possible solutions without consideration
of axis limits and any error conditions.
0 There is no solution, i.e. the requested orientation cannot be
set.
There can be three different causes for this case:
● In principle, the requested orientation cannot be achieved
because of the machine kinematics (orientation axes not
arranged at right angles) even with an arbitrary traversing
range of the orientation axes. In this case, the tens and
hundreds positions of $P_ORI_SOL are both zero, the
$P_ORI_STAT status variables assigned to the orientation
axis have the value "-4".
● The calculated solutions cannot be achieved because they
would violate the axis limits. The positions of the orienta‐
tion axes that would result without the axis limits, can be
read in $P_ORI_POS.
● Axis positions were specified when the ORISOLH function
was called in the "Direct tool alignment" mode which would
result in either the orientation vector or the orientation nor‐
mal vector of the tool being aligned parallel to the first ori‐
entation axis, whose position is to be calculated. The po‐
sition of this axis is not defined in these cases.
Work preparation
3.13 Tool offsets
NC programming
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0 797
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