Extended Interpolation Of Orientation Axes - Siemens SINUMERIK 840DE sl Function Manual

3.11.3

Extended interpolation of orientation axes

Functionality
To execute a change in orientation along the peripheral surface of a cone located in space, it
is necessary to perform an extended interpolation of the orientation vector. The vector around
which the tool orientation is to be rotated must be known. The start and end orientation must
also be specified. The start orientation is given by the previous block and the en orientation
must either be programmed or defined by other conditions.
Figure 3-25
Required definitions
Generally, the following data is required:
● The start orientation is defined by the end orientation of the previous block.
● The end orientation is defined either by specifying the vector (with A3, B3, C3), the Euler
angles or RPY angles (with A2, B2, C2) or by programming the positions of the rotary axis
(with A, B, C).
● The rotary axis of the taper is programmed as a (normalized) vector with A6, B6, C6.
● The opening angle of the cone is programmed degrees with the identifier (nutation angle).
The value range of this angle is limited to the interval between 0 degrees and 180 degrees.
The values 0 degrees and 180 degrees must not be programmed. If an angle is
programmed outside the valid interval, an alarm is generated.
In the special case where NUT = 90 degrees, the orientation vector in the plane is
interpolated perpendicular to the direction vector (large circle interpolation).
The sign of the programmed opening angle specifies whether the traversing angle is to be
greater or less than 180 degrees.
In order to define the cone, the direction vector or its opening angle must be programmed.
Both may not be specified at the same time.
● A further option is to program an intermediate orientation that lies between the start and end
orientation.
Transformations
Function Manual, 06/2019, A5E47435470B AA
Change in orientation of the peripheral surface of a cone located in space
F2: Multi-axis transformations
3.11 Orientation vectors
227