Siemens Sinumerik 840D sl Programming Manual page 336

Transformations
6.2 Three, four and five axis transformation (TRAORI)
6. Programming of rotary axis of taper as normalized vector using A6, B6, C6 or of
intermediate orientation on the peripheral surface of a taper using A7, B7, C7,
see "Orientation programming along the peripheral surface of a taper (ORIPLANE,
ORICONxx)".
7. Programming of reorientation, direction and path length of tool during retraction movement
using A8, B8, C8,
see "Smoothing the orientation characteristic (ORIPATHS A8=, B8=, C8=)"
Note
In all cases, orientation programming is only permissible if an orientation transformation is
active.
Advantage: These programs can be transferred to any machine kinematics.
Definition of tool orientation via G code
Note
Machine manufacturer
Machine data can be used to switch between Euler or RPY angles. If the machine data is set
accordingly, changeovers are possible both depending on the active G code of group 50 and
irrespective of this. The following setting options can be selected:
1. If both machine data for defining the orientation axes and defining the orientation angle
are set to zero via G code:
The angles programmed using A2, B2, C2 are dependent on machine data The angle
definition of orientation programming is either interpreted as Euler or RPY angles.
2. If the machine data for defining the orientation axes is set to one via G code, the
changeover is
dependent on the active G code of group 50:
The angles programmed using A2, B2, C2 are interpreted in accordance with the
active G codes ORIEULER, ORIRPY, ORIVIRT1, ORIVIRT2, ORIAXPOS and
ORIPY2 . The values programmed with the orientation axes are also interpreted as
orientation angles in accordance with the active G code of group 50.
3. If the machine data for defining the orientation angle is set to one via G code and the
machine data for defining the orientation axes is set to zero via G code, the changeover is
not dependent on the active G code of group 50:
The angles programmed using A2, B2, C2 are interpreted in accordance with one of
the active G codes ORIEULER, ORIRPY, ORIVIRT1, ORIVIRT2 ORIAXPOS and
ORIPY2 . The values programmed with the orientation axes are always interpreted as
round axis positions irrespective of the active G code of group 50.
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Programming Manual, 02/2011, 6FC5398-2BP40-1BA0
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