Siemens sinumerik 840D sl Function Manual page 60

Detailed description
2.6 Generic 5-axis transformation and variants
Note
Existing machine data blocks are compatible for transfer, without any changes having to be
made in the machine data. The new machine data therefore do not have to be specified for a
3-/4-/5-axis transformation.
Programming of orientation
With the extension of the generic orientation transformation to 6 axes, all three degrees of
freedom of the orientation can be freely selected. They can be uniquely defined through the
position of a rectangular Cartesian coordinate system. One axis direction, that of the third
axis, (typically in the Z direction) defines the orientation.
Two degrees of freedom are required for the specification of this direction. The third degree
of freedom is defined via a rotation around this direction, e.g. through the specification of an
angle THETA or a direction vector for one of the two other axes of the coordinate system,
see Chapter "Rotation of the Orientation Vector".
The new addresses AN3, BN3, CN3 define the direction of the second axis, of the coordinate
system (typically the Y axis) of the orientation normal vector. The programmed orientation
normal vector should be perpendicular to the orientation and is only possible when both
programmed vectors are not parallel or anti-parallel. Otherwise, alarm 4342 is output.
The direction of the first axis, the X axis, is then uniquely defined.
Default setting of the orientation normal vector
The default setting of the orientation normal vector in the transformation can also be defined
as for the default setting of the orientation in one of three ways:
Specification for the activation of the transformation
1. Vector components are transferred as parameters 8 to 10:
2. If no orientation normal vector has been specified and a tool is active, the vector is taken
3. If no orientation normal vector has been specified and also no tool is active, the vector
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Parameter 1: Transformation No.
Parameter 2 - 4: Orientation vector,
Parameter 5 - 7: Rotary axis offsets
from the tool data.
defined in the following machine data is used.
MD24567 $MC_TRAFO6_BASE_ORIENT_NORMAL_1[0..2] (tool normal vector)
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0