Orientation; Basic Orientation - Siemens SINUMERIK 840DE sl Function Manual

3.9

Orientation

3.9.1

Basic orientation

Differences to the previous 5-axis transformations
In the 5-axis transformations implemented to date, basic orientation of the tool was defined by
the type of transformation.
Generic 5-axis transformation can be used to enable any basic tool orientation, i.e. space
orientation of the tool is arbitrary, with axes in their initial positions.
If an orientation is programmed by means of Euler angles, RPY angles (A2, B2, C2) or vectors
(A3, B3, C3), basic orientation is taken into consideration, i.e. the rotary axes are positioned so
that a tool positioned in basic orientation is traversed to the programmed orientation.
If the rotary axes are programmed directly, basic orientation has no effect.
Definition
The basic orientation can be defined in three different ways:
● Definition by calling the transformation
● Definition by the orientation of the active tool
● Definition using a machine data
Definition by calling the transformation
When the transformation is called, the direction vector of the basic orientation can be specified
in the call, e.g. TRAORI(0, 0., 1., 5.). The direction vector is defined by parameters 2 to
4. This is the reason that in the example it has the value (0., 1., 5.).
The first parameter specifies the transformation number. The number can be omitted if the first
transformation is to be activated. To enable the parameters to be identified correctly when
specifying an orientation, a blank space has to be inserted instead of the transformation
number, e.g. TRAORI(, 0., 1., 5.).
Note
The orientation data is absolute. It is not modified by a frame that is possibly active.
The absolute value of the vector is insignificant, only the direction is relevant. Non-programmed
vector elements can be set to zero.
Please note that if all three vector components are zero (because they have been set explicitly
so or not specified at all), the basic orientation is not defined by data in the TRAORI(...) call,
but by one of the two other options.
If a basic orientation is defined by calling the transformation, it cannot be altered while a
transformation is active. The orientation can be changed only by selecting the transformation
again.
Transformations
Function Manual, 06/2019, A5E47435470B AA
F2: Multi-axis transformations
3.9 Orientation
191