Siemens SINUMERIK 840DE sl Function Manual page 120

M1: Kinematics transformation
2.7 Cartesian manual traversing (option)
The user can define how rotations are to be executed using the current G commands of group
50 for orientation definition
Specifying ORIEULER, ORIRPY, ORIVIRT1 and ORIVIRT2.
With ORIVIRT1, rotation is executed according to MD21120 $MC_ORIAX_TURN_TAB_1. The
orientation axes are assigned to the channel axes via machine data: MD24585
$MC_TRAFO5_ORIAX_ASSIGN_TAB_1.
The direction of rotation is determined according to the "right hand rule". The thumb points in
the direction of the rotary axis. The finger stipulates the positive direction of rotation.
Orientation in the WCS
The rotations are made around the defined directions of the workpiece coordinate system. If
frame rotation is active, the movements correspond to the rotations in the basic coordinate
system.
Orientation in the BCS
The rotations are made around the defined directions of the basic coordinate system.
①
Start orientation
②
End orientation
Figure 2-22 Cartesian manual travel in the basic coordinate system, orientation angle A
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Function Manual, 06/2019, A5E47435470B AA
Transformations