Orientation Axes - Siemens SINUMERIK 840DE sl Function Manual

F2: Multi-axis transformations

3.10 Orientation axes

3.10 Orientation axes
3.10.1 Orientation axes
Directions of rotation
The directions around which axes are rotated are defined by the axes of the reference system.
In turn, the reference system is defined by ORIMKS and ORIWKS commands:
● ORIMKS : Reference system = Basic coordinate system
● ORIWKS: Reference system = Workpiece coordinate system
Order of rotation
The order of rotation for the orientation axes is defined by the following machine data:
MD21120 $MC_ORIAX_TURN_TAB_1[0..2] (definition of reference axes for ORI axes)
1. First rotation around the axis of the reference system, defined in the following machine data:
MD21120 $MC_ORIAX_TURN_TAB_1[0]
2. Second rotation around the axis of the reference system, defined in the following machine
data:
MD21120 $MC_ORIAX_TURN_TAB_1[1]
3. Third rotation around the axis of the reference system, defined in the following machine data:
MD21120 $MC_ORIAX_TURN_TAB_1[2]
Direction of the tool vector
The direction of the tool vector in the initial machine setting is defined in the following machine
data:
MD24580 $MC_TRAFO5_TOOL_VECTOR_1 (orientation vector direction) or
MD24680 $MC_TRAFO5_TOOL_VECTOR_2 (orientation vector direction)
Assignment to channel axes
Machine data MD24585 $MC_TRAFO5_ORIAX_ASSIGN_TAB_1[0..2] (ORI/channel
assignment Transformation 1) are used to assign up to a total of 3 virtual orientation axes to the
channel, which are set as input variables in machine data $MC_TRAFO_AXES_IN_n[4..6] (axis
assignment for Transformation n).
For assigning channel axes to orientation axes, the following applies:
● $MC_TRAFO5_ORIAX_ASSIGN_TAB_n[0] = $MC_TRAFO_AXES_IN_n[4]
● $MC_TRAFO5_ORIAX_ASSIGN_TAB_n[1] = $MC_TRAFO_AXES_IN_n[5]
● $MC_TRAFO5_ORIAX_ASSIGN_TAB_n[2] = $MC_TRAFO_AXES_IN_n[6]
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Transformations