Extended Interpolation Of Orientation Axes - Siemens SINUMERIK 840D sl Function Manual

A programmable rotation of the orientation vector is only possible when an orientation
transformation (TRAORI) is active.
A programmed orientation rotation is only interpolated if the machine kinematics allow
rotation of the tool orientation (e.g. 6-axis machines).
1.11.3

Extended interpolation of orientation axes

Functionality
To execute a change in orientation along the peripheral surface of a cone located in space, it
is necessary to perform an extended interpolation of the orientation vector. The vector around
which the tool orientation is to be rotated must be known. The start and end orientation must
also be specified. The start orientation is given by the previous block and the en orientation
must either be programmed or defined by other conditions.
Figure 1-23
Required definitions
Generally, the following data are required:
• The start orientation is defined by the end orientation of the previous block.
• The end orientation is defined either by specifying the vector (with A3, B3, C3), the Euler
angles or RPY angles (with A2, B2, C2) or by programming the positions of the rotary axis
(with A, B, C).
• The rotary axis of the taper is programmed as a (normalized) vector with A6, B6, C6.
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Change in orientation of the peripheral surface of a cone located in space
F2: Multi-axis transformations
1.11 Orientation vectors
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