Motion-Related Variables

$AXES

String showing active axes Type: String, Read-only

This variable displays the currently active axes in the form of a character string containing 6 characters. At any one time, Icam Post 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 Icam Post 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 extending or 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 macros. It can be used to determine the location in the $P3 machine coordinate sequence that applies to a given axis. (Note $P3 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.

$$ %L01 = axis index to $P3 sequence
%L01=$FINDEX($AXES,'b')
$$ If B'-axis is active, set %L02
IF/%L01.GE.1.AND.%L01.LE.6
  $$ %L02=B'-axis machine coordinate
  %L02=$P3(%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 $P3 sequence. For the case above, the $BTM macro system variable could be used to determine the location of the B'-axis.

$AXESC2P

String showing axes controlled by C2P interpolation Type: String, Read-only

This 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.

$AXESMCD

String showing axes that have been output to MCD/tape Type: String, Read/Write

This variable identifies the axes that have been output to the MCD (i.e., tape) since the last tool change. The characters are one letter abbreviations representing the axis names as shown in the “Axes Names” table. This variable is initialized to blank at the start of post-processing and is reset to blank at each tool change. It can also be cleared or modified in a macro as required. It can be used to test if an axis has been output to MCD since the last tool change or custom event. This variable is informational only.

$C2PAPT

C2P programmed status ($TRUE or $FALSE) Type: Logical, Read-only

This variable will be set $TRUE when C2P (Cartesian to Polar Programming) is requested in the CLDATA file (via the MODE/POLAR,ON post-processor command and its variants) and $FALSE when C2P is not required (MODE/POLAR,OFF).

$C2PMCH

C2P interpolation status ($TRUE or $FALSE) Type: Logical, Read-only

This 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.

$CHSIZ

Number of available kernel channels Type: Numeric, Read-only

This variable indicates the number of kernel channels. It will have a value of 2 for a merging lathe or for a 4-axis wire-edm, and a value of 1 for all other machine types.

$CI	Current active kernel channel Type: Numeric, Read-only

This variable indicates the current active channel. It will have a value of 2 when processing the side head of a merging lathe or the upper guide of a 4-axis wire-edm, and a value of 1 at all other times.

$CLRMOD

Number of canonical clearance surface parameters Type: Numeric, Read-only

This variable indicates the number of surface values programmed by CLEARP or CLRSRF commands. If the surface is defined by CLEARP, this value is always 4 (a plane). If the surface is defined by CLRSRF command then the values can be as follows:

-1:

clearance surface not defined

 0:

NOMORE

 3:

a point

 4:

a plane

 7:

a cylinder

When CLEARP/NOMORE or CLRSRF/NOMORE is programmed, this value is set to 0, indicating previous CLEARP or CLRSRF definitions are no longer in effect.

$CLRSRF

Clearance surface canonical form Type: Numeric, Read-only

This array contains the definition of the clearance surface. The interpretation of the $CLRSRF values depends on the type of surface indicated by $CLRMOD, as follows:

0:

Clearance surface not defined.

3:

Point: $CLRSRF(1:3) contains xyz coordinates of the clearance point.

4:

Plane: $CLRSRF(1:3) contains clearance plane normal vector and $CLRSRF(4) contains the distance from the part coordinate origin to the plane.

7:

Cylinder: $CLRSRF(1:3) contains xyz coordinates of any point on the cylinder axis, $CLRSRF(4:6) contains cylinder axis direction vector and $CLRSRF(7) contains the radius of the cylinder

When CLEARP/NOMORE or CLRSRF/NOMORE is programmed, the array values are set to NULL, indicating previous CLEARP or CLRSRF definitions are no longer in effect.

$DUPPNT

Duplicate point processing (0:no, 1:yes) Type: Numeric, Read/Write

Set $DUPPNT to 1 (one) to force processing of identical motion points. Set $DUPPNT to 0 (zero) to ignore duplicate motion points (the default). Note that at least one axis of motion must be non-modal (either via the QUEST answers or the PPFUN/12 post-processor command) in order for a duplicate motion to output.

$GOTOCLN

CLN at last motion Type: Numeric, Read/Write

This variable indicates the CLDATA record number (CLN) that was in effect when the last motion was processed. It is initialized to zero at the start of post-processing and is reset to zero at each tool change. It can also be modified in a macro as required. It can be used to test if a motion has been processed since the last tool change or custom event. This variable is informational only.

$LCAMOD

LCS/AUTO mode (0-4) Type: Numeric, Read/Write

The LCS/AUTO command sets up a new transformation system based on the latest MSYS command, or with the local coordinate Z axis always parallel to the tool axis vector. The $LCAMOD variable defines the mode of operation of the automatic transformation, as follows:

0:

$LCAON and $LCAOFF define the LCS activation and deactivation behavior. This is the default when running with a V23 generated post.

1:

Create a new LCS on each RAPID motion with a changed tool axis. This is the default when running with a V14 generated post.

2:

Create a new LCS just before the feed motion that follows a RAPID with a changed tool axis. Cancel LCS on a RAPID motion following the last feed move. This is default mode for V15 through V22 generated posts.

3:

Create a new LCS each time an MSYS command is encountered, using the matrix defined on the MSYS command.

4:

Create a new LCS each time an MSYS command is encountered, using the inverse of the matrix defined on the MSYS command.

With modes 0, 1 and 2, the orientation of the LCS X and Y axes can be controlled to some extent using the $LCAUTO variable.

$LCAOFF

LCS deactivation mode (0-3) when $LCAMOD=0 Type: Numeric, Read/Write

When the $LCAMOD setting is 0, the $LCAOFF variable defines how LCS is to deactivated (if at all) during the positioning motion(s) that follow cutting motions. The following deactivation (i.e., LCS/OFF) options are available:

0:

do not deactivate LCS

1:

at the start of the positioning sequence

2:

before the first positioning motion that includes a rotary axis (default)

3:

same as 2, or after the first positioning motion, whichever occurs first

$LCAON

LCS activation mode (0-3) when $LCAMOD=0 Type: Numeric, Read/Write

When the $LCAMOD setting is 0, the $LCAON variable defines how LCS is to activated (if at all) during the positioning motion(s) that precede cutting motions. The following activation (i.e., LCS/ON) options are available:

0:

do not activate LCS

1:

at the end of the positioning sequence

2:

after the last positioning motion that includes a rotary axis (default)

3:

same as 2, or before the last positioning motion, whichever occurs last

$LCAUTO

Preferred LCS alignment (0-5) Type: Numeric, Read/Write

When the $LCAMOD setting is 0, 1 or 2 (i.e., a matrix defined by tool axis information), the $LCAUTO variable can be used to define the preferred alignment of the local coordinate X-axis or Y-axis, as follows:

0:

Align local X-axis with machine X-axis

1:

Align local Y-axis with machine Y-axis

2:

Same as 0, set local origin at tool tip

3:

Same as 1, set local origin at tool tip

4:

Using 2 rotations as defined in the Questionnaire

5:

Same as 4, set local origin at tool tip

$LCAUTOT

Preferred LCS translation ($TRUE or $FALSE) Type: Logical, Read/Write

This variable will be set $TRUE when automatic LCS as defined by $LCAUTO includes a translation component to set the local origin at the tool tip. $LCAUTOT can be set within a macro to set the automatic LCS translation preference, which in turn can change the $LCAUTO value.

$LCPREFROT

Preferred LCS rotation axes (0-4) Type: Numeric, Read/Write

This variable indicates and can set the preferred LCS axes of rotation when the local coordinate rotation supports the “3Rotation” method (QUEST Control Description / Coordinate System question #34).

0:

3Rotation method is not available

1:

Use CA axes

2:

Use CB axes

3:

Use BA axes

4:

Use AB axes

$LCS	LCS programmed status ($TRUE or $FALSE) Type: Logical, Read/Write

This variable will be set $TRUE when LCS (Local Coordinate System) transformation is activated (via the LCS/… post-processor command) and $FALSE when LCS is deactivated (LCS/OFF). The $LCS variable can be set from within a macro to change the mode, but when doing so the LCS enable/disable NC codes will not be output.

$LCSAFT

LCS list format fixed parameters after rotation parameters Type: String, Read/Write

This variable defines the additional fixed parameters to be output at the end of a LCS rotation parameter list when local coordinate rotation uses the “List” encoding method (QUEST Control Description / Coordinate System question #31.5).

$LCSANG

LCS rotation angle parameter Type: Numeric, Read-only

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

$LCSAUT

LCS/AUTO automatic LCS status ($TRUE or $FALSE) Type: Logical, Read/Write

This variable will be set $TRUE when automatic LCS transformation is activated (via the LCS/AUTO post-processor command) and $FALSE when LCS is deactivated (LCS/OFF). This variable can be set from within a macro to change the automatic LCS mode.

$LCSBEF

LCS list format fixed parameters before rotation parameters Type: String, Read/Write

This variable defines the additional fixed parameters to be output at the start of a LCS rotation parameter list when local coordinate rotation uses the “List” encoding method (QUEST Control Description / Coordinate System question #31.5).

$LCSCEN

LCS rotation or scale center parameters Type: Sequence, Read-only

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

$LCSID

LCS NC code output step ID (0:NA, 1-8:active, 99:error) Type: Numeric, Read-only

This variable can be used in a tape macro to identify NC code blocks that are generated during LCS activation and deactivation. Depending on the type of LCS feature and the coordinate transformation, GENER may have to output a series of NC blocks. For an LCS activation, $LCSID will be set to 1 on the first NC block, 2 on the second block and so on. For an LCS deactivation, $LCSID will be set to –1 on the first NC block, –2 on the second, et cetera. $LCSID is set to 0 (zero) at all other times.

$LCSM

Local coordinate system machine status ($TRUE or $FALSE) Type: Logical, Read-only

This 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.

$LCSMIR

LCS mirror parameters Type: Sequence, Read-only

This 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.

$LCSMTN

Effect of LCS on machine rotary axes (–1-3) Type: Numeric, Read/Write

This 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

$LCSMX

Current LCS transformation matrix Type: Sequence, Read-only

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

$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.

$LCSPND

Pending LCS output status ($TRUE or $FALSE) Type: Logical, Read-only

This variable will be set $TRUE when LCS processing has pending tape file output before the next motion.

$LCSROT

LCS rotation parameters Type: Sequence, Read-only

This 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.

$LCSSCA

LCS scale parameters Type: Sequence, Read-only

This variable indicates the current LCS {x,y,z} scale parameters.

$LCSTRA

LCS translation parameters Type: Sequence, Read-only

This variable indicates the current LCS {x,y,z} translation amounts.

$LINTOL

Linearization status ($TRUE or $FALSE) Type: Logical, Read/Write

This variable indicates the current LINTOL linearization status; $TRUE when active and $FALSE otherwise. Setting this variable $TRUE or $FALSE is the same as coding LINTOL/ON or OFF. In this context, the linearization process involves finding the shape of a complex curve describing the motion of machine tool axes such that the motion of the tool tip with respect to the part remains linear within some domain.

$LINTOLF

Tolerance of the feed (cutting) motion linearization. Type: Logical, Read/Write

This variable defines the active tolerance of feed (cutting) motion linearization. The value zero (0) indicates that LINTOL linearization for feed motions has been turned off.

$LINTOLR

Tolerance of the RAPID positioning motion linearization. Type: Logical, Read/Write

This variable defines the active tolerance of RAPID motion linearization. The value zero (0) indicates that LINTOL linearization for RAPID motions has been turned off.

$MRGCIR

Control over circle merging Type: Logical, Read/Write

When set $TRUE, this variable will enable the merging of multiple circle motions into a single motion providing the center, radius and progression direction remain the same. This feature can be disabled by setting $MRGCIR to $FALSE. By default, $MRGCIR is set to $TRUE.

$MULSIZ

Current size of motion record Type: Numeric, Read/Write

This variable defines the number of numeric parameters associated with a given motion. Normally a motion record consists of three items, which are the X, Y and Z coordinates of the tool tip. When the MULTAX command is coded, a motion record is normally consists of six items, which are the three coordinates of the tool tip as well as the I, J and K cosines of the tool vector. Some CAM systems can generate CL files with even more information on each motion record. For example, a part normal vector may be included. The $MULSIZ variable can be set to indicate the number of items in each motion. It takes effect after a MULTAX/ON is coded. By default $MULSIZ is set to 6 when MULTAX is enabled and is set to 3 otherwise.

$MULTAX

MULTAX flag ($TRUE if MULTAX is ON) Type: Logical, Read-only

This variable will be set to $TRUE if MULTAX/ON is coded in the CL file, or in a macro. It is set to $FALSE otherwise. When MULTAX is ON, GENER expects orientation information to be input from the CL file.

Within GENER, the $MULSIZ macro system variable specifies the number of numeric entities in a single motion. The relationship between $MULSIZ and MULTAX is as follows:

MULTAX	$MULSIZ	$MULTAX
0 or OFF	3	$FALSE
1 or ON	6	$TRUE
2 or ROLL	9	$TRUE
3	12	$TRUE
…	…	…
9	30	$TRUE

A MULTAX command in the input source CL file controls how the source records are interpreted. A MULTAX CL file record is also generated that, after macro processing, controls the setting of the $MULTAX and $MULSIZ variables.

This is a one way process. Specifically, changing either $MULTAX or $MULSIZ in a GENER macro will not affect the interpretation of source CL file records when they are input.

$ORIGIN	Current ORIGIN command transformation matrix Type: Sequence, Read-only
$ORIGINL	Current ORIGIN/LAST command transformation matrix Type: Sequence, Read-only

These variables contain a sequence of 12 parameters defining the ORIGIN and ORIGIN/LAST command transformation matrices (see “Matrix Functions” for a description of the matrix parameters).

$PLMODE

Plane mode. (<1:? 1:XY 2:ZX 3:YZ) Type: Numeric, Read/Write

This 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. By setting $PLMODE to –1, the next occurrence of circular interpolation, cutter compensation or cycles will cause the appropriate plane code to be output.

$PNMODE

Positioning mode. (<0:? 0:Absolute 1:Incremental) Type: Numeric, Read/Write

This 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.

$POLRACT

C2P interpolation mode (OFF, POST, CNC) Type: Keyword, Read-only

This variable indicates the current C2P (Cartesian to Polar Programming) interpolation mode active on the CNC. The value is a keyword, as follows:

OFF:

C2P is not active

POST:

Post-processor generated polar interpolation is active

CNC:

CNC C2P interpolation is active (e.g., G12, TRANSMIT)

$POLRAPT

C2P programmed mode (OFF, POST, CNC, TRAV) Type: Keyword, Read-only

This variable indicates the current C2P (Cartesian to Polar Programming) mode requested in the CLDATA file via the MODE/POLAR or LIMIT/POLAR post-processor commands. The value is a keyword, as follows:

OFF:

C2P is not required

POST:

Post-processor generated polar interpolation is requested

CNC:

CNC C2P interpolation is requested

TRAV:

Mix of Cartesian and Polar, as defined by LIMIT command requirements

$RAPID

RAPID flag ($TRUE if in RAPID mode) Type: Logical, Read/Write

This variable indicates whether or not the next motion will be at rapid.

$RAPLIN

RAPID linearization flag Type: Logical, Read/Write

When set $TRUE, rapid motions will be linearized. When linearization is active, any rapid motion that would normally be applied in a “hockey stick” manner will be converted to a high speed linear interpolation motion.

Rapid linearization is automatically enabled during a retract motion and during emulated cycle plunges and retracts. The linearization is disabled by default at all other times. Setting $RAPLIN to $TRUE will enable linearization for all rapid motions, including those that would otherwise be split due to safe positioning requirements.

$RDNTLR

Redundancy checking tolerance Type: Numeric, Read/Write

This variable controls the tolerance used to remove consecutive linear or rotary moves. A value of 0 deactivates redundancy checking (the default).

Set $RDNTLR to positive[1] values to eliminate the mid-points of consecutive interpolation motions that fall within the specified tolerance value of continuous motion at the control point of the machine.

$ROBCFGM

Robot shoulder, elbow and wrist configuration Type: Keyword, Read/Write

This 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

$ROBCFGN

Robot shoulder, elbow and wrist configuration Type: Numeric, Read/Write

This 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

$ROTSPL

Rotary splitting rotation angle Type: Numeric, Read/Write

This variable defines the maximum angle in degrees that the rotary axes can unambiguously rotate. When set to a negative value (default), rotary axis splitting due to controller limitations is automatic using the answers to the questionnaire. To force rotary motions to be segmented every n degrees, set $ROTSPL to n. To inhibit any segmentation of rotary moves (due to controller limitations), set $ROTSPL to a large positive value.

$RTAID	Rotary turn around current step ID (0:NA, 1-8:active, 99:error) Type: Numeric, Read-only
$RTAIDL	Rotary turn around last step ID (0:NA, 1-8:active) Type: Numeric, Read-only

These variables can be used to determine the current and last step in a series of steps that occur during RTA (rotary turn around). These variables are intended to be used in a tape macro, since RTA motions cannot be matched by a motion macro. The $RTAID variable identifies the current step type and the $RTAIDL identifies the last (previous) step type, as follows:

 0:

Not a RTA generated motion

 1:

motion to the RTA position

 2:

BACK motion

 3:

RTRCTO motion

 4:

rapid to clearance

 5:

reconfigure rotaries

 6:

rapid from clearance to RAPTO height

 7:

RAPTO motion

 8:

FEDTO motion

99:

motion to RTA position due to error

$SAFID	SAFETY current motion ID (0:NA, n:active) Type: Numeric, Read-only
$SAFIDN	SAFETY total motions (0:NA, n:active) Type: Numeric, Read-only

These variables can be used to determine the current step and the total number of steps during motion segmentation caused by SAFETY path planning. These variables are intended to be used in a tape macro, since path planning segmented motions cannot be matched by a motion macro. The $SAFID variable identifies the current motion segment number and the $SAFIDN identifies the total number of motion segments.

$SCANID	LINTOL/SCAN current step ID (0:NA, 1-8:active) Type: Numeric, Read-only
$SCANIDL	LINTOL/SCAN last step ID (0:NA, 1-8:active) Type: Numeric, Read-only

These variables can be used to determine the current and last step in a series of steps that occur during repositioning caused by LINTOL/SCAN path planning. These variables are intended to be used in a tape macro, since path planning repositioning motions cannot be matched by a motion macro. The $SCANID variable identifies the current step type and the $SCANIDL identifies the last (previous) step type, in the same way as defined for the $RTAID variable above.

Normally $SCANID will be either 0 (zero) or 5; where 0 is a motion unaffected by path planning and 5 indicates a motion generated to reconfigure the rotary axes. Path planning can also invoke an RTA (rotary turn around) sequence, in which case $SCANID will be set to any of the values 1:8 listed for $RTAID.

$SCANMTN

$TRUE if there are pending Path Planning motions Type: Logical, Read-only

This variable when $TRUE indicates that path planning is active and has pending motions still to be output. Since path planning does not tolerate LCS changes in the middle of a motion sequence, best practice is to test for $SCANMTN in a motion shutdown macro and change LCS there only when $FALSE.

$SKIPCOD

Skip-code function status (0:off, 1:active) Type: Numeric, Read/Write

This 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.

$SKIPERR

Skip-code function error (0:none, 1:touch, 2:miss) Type: Numeric, Read-only

This 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.

$SNGPOLE

Singularity pole half-apex angle (0:NA) Type: Numeric degrees, Read/Write

This variable defines the half-apex angle of the singularity cone to apply to rotary axes, in the range of 0 (zero) to 5 degrees. Special singularity interpolation and processing will occur when the tool axis lies within this cone during a linearized motion or while in RTCP mode. The singularity cone angle can also be set via the LINTOL/TLANGL command (see “Tool-Tip-Only Linearization”). The RTCP simulation of the singularity cone can be controlled by the $TCPSIM and $TCPSIMR variables.

$TCP	RTCP status ($TRUE or $FALSE) Type: Logical, Read/Write

This variable will be set $TRUE when RTCP (Rotating Tool Center-point Programming) is activated (via the MODE/RTCP,ON post-processor command) and $FALSE when RTCP is deactivated (MODE/RTCP,OFF). The $TCP variable can be set from within a macro to change the mode, but when doing so the RTCP enable/disable (G) codes will not be output.

$TCPFMT

RTCP format (0:None, 1:Axes, n:Other) Type: Numeric, Read/Write

This variable defines how rotary information is output when RTCP is active. The default format is defined in QUEST and can be controlled using the MODE/RTCP,OPTION,n command. You can also set the $TCPFMT variable to change the format “n”, as follows:

0:

Do not output any rotary values

1:

Output true rotary axes values

2:

Output machine tool axis vector

3:

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

4:

Output RPY (roll-pitch-yaw) angle

5:

Output Euler angles

6:

Output custom virtual axes as defined by QUEST

$TCPFMTOPT

RTCP format option (0-1) Type: Numeric, Read/Write

This variable controls whether GENER can intermix machine rotary axes values with virtual rotary values while RTCP is active. The value 1 (default) indicates that GENER can switch to machine rotary axes output if necessary to force the machine to a particular kinematics configuration. The value 0 indicates that only virtual rotary axes are allowed to be output, thereby disabling collision and travel optimization algorithms while RTCP is active.

$TCPSET

RTCP method (1-2) Type: Numeric, Read/Write

This 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). It defines the RTCP method to be used if not explicitly set on the MODE/RTCP post-processor command (see “Rotating Tool Center Point”).

$TCPSIM	RTCP feed interpolation (0:Standard, 1:Pole, 2:TTO, 3:None) Type: Numeric, Read/Write
$TCPSIMR	RTCP rapid positioning (0:Standard, 1:Pole, 2:TTO, 3:None) Type: Numeric, Read/Write

The $TCPSIM variable defines how GENER (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. Although GENER does not by default output the intermediate points of the linearized tool path while under RTCP mode, GENER does perform these calculations so as to more accurately compute the processing time and properly diagnose travel limitations. The default setting is defined in QUEST.

0:

Standard LINTOL processing

1:

Apply singularity cone (see “$SNGPOLE”) (Siemens 840D)

2:

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

3:

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

$TLMODE

Interpolation mode. Type: Numeric, Read/Write

This variable contains the last mode of interpolation for the machine. GENER sets $TLMODE to one of the values –1 through 13 to identify the mode of interpolation being used with coordinate data, as follows:

–3:

Unknown, output interpolation code

–2:

Unknown, output interpolation code and feed

–1:

Unknown, output interpolation code, axes and feed

 0:

Rapid positioning

 1:

Linear interpolation

 2:

CLW arc interpolation

 3:

CCLW arc interpolation

 4:

Thread

 5:

Spline interpolation

 6:

3D circle interpolation

 7:

Turret punch pattern

12:

CLW helical arc interpolation

13:

CCLW helical arc interpolation

GENER sets $TLMODE to –1 following a tool change, to force out interpolation, axis and feed rate codes with the next motion. The $TLMODE variable can also be set in a macro to indicate the current mode (for example, it is good form to set $TLMODE=0 if you INSERT or otherwise write a G00 code to the tape), but setting $TLMODE will not affect how motions are interpreted.

$TRACK

Zero track axis output ($TRUE or $FALSE) Type: Logical, Read/Write

This variable is only applicable to machines having secondary linear axes and that support the zero-track method of axis output. If $TRACK is $TRUE, zero tracking is enabled. Conversely, if it is $FALSE, zero tracking is disabled. The initial state is set in QUEST.

$TRANS

Axes translation amounts Type: Numeric, Read/Write

This table contains the translation amounts assigned to each axis. The table is organized in rows and columns as $TRANS(column,row). Row 1 contains primary translation amounts as defined by the TRANS and ROTABL commands. Row 2 contains secondary translation amounts as defined by the TRANS/LAST command. Columns 1 through 15 hold translation amounts for each of the 15 possible machine axes, as follows:

1, 2, 3	X, Y and Z linear axes
4, 5, 6	U, V and W secondary linear axes
7, 8, 9	A’, B’ and C’ rotary table axes
10, 11, 12	A, B and C rotary head axes
13	Extending (quill) axis
14, 15	N1 and N2 removable rotary head axes

A value of zero signifies no translation. The $TRANS table is settable.

$UGMODE

4 Axis wire EDM mode Type: Numeric, Read/Write

This variable control the type of output for 4 axis wire EDM. If $UGMODE is set to 0 (zero), the type of generated output is linear (XYUV). If $UGMODE is set to 1 (one), the type of generated output is angular (XYQR).

[1]

$RDNTLR can be set to a negative value to force output of duplicate points, however this capability is depreciated. Use the $DUPPNT system variable instead.

$WINDPRT

Priority of WIND rotation over RTA Type: Numeric, Read/Write

When generating an RTA sequence, and both RTA (180°) and WIND (360°) rotations are possible, GENER will default to the shorter RTA rotation. However, in some cases, using a WIND rotation (360×n degrees) may be required or preferable. The $WINDPRT variable specifies the preferred rotation method:

-1:

RTA

 0:

automatic

+1:

WIND