Siemens sinumerik 840D sl Function Manual page 131

Orientation transformation, 15
Programming, 79
Orientation transformation and orientable tool
holders, 82
Orientation vectors, 84
ORIMCS, 23
ORIPLANE, 92, 94
ORIWCS, 23
P
Pole, 27
Polynomial interpolation, 84
Polynomial interpolation of orientation vectors, 83
Polynomial of the 5th degree, 89
Polynomials for 2 angles, 84
POLYPATH, 83
Position of the orientation coordinate system
Generic transformation with 6 axes, 55
Programming of polynomials, 83
R
Restrictions for kinematics and interpolation, 58
Rotary axis of the cone, 91
Rotation of the orientation vector, 87, 88
RPY angles, 23
S
SD42475, 67
SD42476, 67
SD42477, 67
SD42650, 56
SD42660, 56, 57
SD42670, 71
SD42672, 71
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0
SD42970, 97
SD42974, 48
Selection of type of interpolation, 84
Singular positions, 27
Singularities, 59
Start orientation, 91
Switch-over to axis interpolation, 64
swivelled linear axis
Application, 31
Pole, 31
Swivelled linear axis
Kinematics variants, 31
Machine type, 36
Parameterization, 31
Swivelling linear axis, 8
System variables
for orientation, 6
T
Tool holder, with orientation capability
Programming, 59
Tool orientation, 11
Tool orientation using orientation vectors, 26, 59
Tool tip at a fixed point in space, 23
Transformation active, 41
Transformation group, 41
Transformation types, 22
Two-axis swivel head, 16
U
Universal milling head, 10, 37
Applications, 37
JOG, 41
Parameterization, 39
Index
125