Programming Of The Tool Orientation (A - Siemens Sinumerik 840D sl Programming Manual

Examples
1. Example of machine kinematics CA (channel axis names C, A)
ORIRESET(90, 45)
ORIRESET(, 30)
ORIRESET( )
2. Example of machine kinematics CAC (channel axis names C, A, B)
ORIRESET(90, 45, 90)
ORIRESET( )
Programming LEAD, TILT and THETA rotations
In respect of three- to five-axis transformation, tool orientation rotations are programmed with
the LEAD and TILT angles.
In respect of a transformation with third rotary axis, additional programming settings for C2
(rotations of the orientation vector) are permitted for both orientation with vector components
and with entry of the LEAD, TILT angles.
With an additional third rotary axis, the rotation of the tool about itself can be programmed
with the THETA rotary angle.
6.2.4 Programming of the tool orientation (A..., B..., C..., LEAD, TILT)
Function
The following options are available when programming tool orientation:
1. Direct programming the motion of rotary axes. The change of orientation always occurs in
the basic or machine coordinate system. The orientation axes are traversed as
synchronized axes.
2. Programming in Euler or RPY angles in accordance with angle definition using A2, B2,
C2
3. Programming of the direction vector using A3, B3, C3 The direction vector points from
the tool tip toward the tool adapter.
4. Programming the surface normal vector at the start of the block with A4, B4, C4 and at
the end of the block with A5, B5, C5 (face milling).
5. Programming using lead angle LEAD and tilt angle TILT
Job planning
Programming Manual, 02/2011, 6FC5398-2BP40-1BA0
6.2 Three, four and five axis transformation (TRAORI)
;C at 90 degrees, A at 45 degrees
;C at $MC_TRAFO5_ROT_AX_OFFSET_1/2[0], A at 30 degrees
;C at $MC_TRAFO5_ROT_AX_OFFSET_1/2[0],
;A at $MC_TRAFO5_ROT_AX_OFFSET_1/2[1]
;C at 90 degrees, A at 45 degrees, B at 90 degrees
;C at $MC_TRAFO5_ROT_AX_OFFSET_1/2[0],
;A at $MC_TRAFO5_ROT_AX_OFFSET_1/2[1],
;B at $MC_TRAFO5_ROT_AX_OFFSET_1/2[2]
Transformations
335