Siemens SINUMERIK 840DE sl Function Manual page 202

F2: Multi-axis transformations
3.9 Orientation
● Hundred digit: Activation and definition of the direction of the lift motion for reorientation
during an active ORIPATH
● Thousands digit: Behavior of the path-relative orientation in the activation/deactivation
blocks of the tool offset
MD21094 $MC_ORIPATH_MODE = <value>
Val‐
ue
xxx0 The tool orientation only has the reference to the path tangent and to the surface normal vector
xxx1 In the complete block, the tool orientation has the reference to the path tangent and surface
For path-relative orientation, the coordinate system is formed by the vectors path tangent T and pro‐
grammed surface normal vector N.
Note 1: Programming the surface normal vector N
● at the block start: A4=... B4=... C4=...
● at the block end: A5=... B5=... C5=...
xx0x
xx1x
202
Meaning
programmed with LEAD and TILT, at the end of the block. During the block, the orientation does
not follow the path tangent.
normal vector programmed with LEAD and TILT.
(Interpretation of the angles of rotation LEAD and TILT)
Units digit
(Orientation relative to the path)
Tens digit
1st rotation LEAD: Rotation of the orientation vector O around the
path normal vector B
N
2nd rotation TILT: Rotation of the new orientation vector O'
around the surface normal vector F
1st rotation LEAD: Rotation of the orientation vector O around
the path normal vector B
2nd rotation TILT: Rotation of the new orientation vector O'
around the path tangent vector B
⇒ O'
⇒ O''
N
⇒ O'
N
⇒ O''
T
Function Manual, 06/2019, A5E47435470B AA
Transformations