Orientation Vectors; Polynomial Interpolation Of Orientation Vectors - Siemens SINUMERIK 840DE sl Function Manual

3.11

Orientation vectors

3.11.1

Polynomial interpolation of orientation vectors

Programming of polynomials for axis motions
The rotary axes are normally subjected to linear interpolation in case of orientation changes
with the help of rotary axis interpolation. However, it is also possible to program the polynomials
as usual for the rotary axes. This allows a generally more homogeneous axis motion to be
produced.
Note
Further information about programming polynomial interpolation with POLY and on
interpolation of orientation vectors is given in:
Further information
Programming Manual; Advanced
A block with POLY is used to program polynomial interpolation. Whether the programmed
polynomials are then interpolated as polynomial, depends on whether the G command POLY
is active or not:
● The G command is not active: The programmed axis end points are traversed linearly.
● The G command is active: The programmed polynomials are interpolated as polynomials.
MD10674
Using machine data MD10674 $MN_PO_WITHOUT_POLY = FALSE
(polynomial can be programmed without G command POLY), it can be set as to whether the
following programming is possible:
● PO[...] or PO(...) is possible only if POLY is active, or
● PO[ ] or PO( ) polynomials are also possible without active G command POLY.
As default, MD10674: PO_WITHOUT_POLY = FALSE set and with MD10674
$MN_PO_WITHOUT_POLY = TRUE the following programming is always possible:
● PO[...] = (...), regardless of whether POLY is active or not.
Orientation polynomials can be programmed in conjunction with different interpolation types
and are described in Section "Programming of Orientation Polynomials".
Transformations
Function Manual, 06/2019, A5E47435470B AA
F2: Multi-axis transformations
3.11 Orientation vectors
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