Orientation Polynomials (Po[Angle], Po[Coordinate]) - Siemens SINUMERIK 840D sl Programming Manual

Note
Identifiers XH YH ZH for programming a 2nd orientation path
The identifiers must be selected such that no conflict arises with the other identifiers or linear
axes
X Y Z axes
and rotary axes such as
A2 B2 C2 Euler angle or RPY angle
A3 B3 C3 direction vectors
A4 B4 C4 or A5 B5 C5 surface normal vectors
A6 B6 C6 rotation vectors or A7 B7 C7 intermediate point coordinates
or other interpolation parameters.
3.9.3

Orientation polynomials (PO[angle], PO[coordinate])

Irrespective of the polynomial interpolation from G group 1 that is currently active, two different
types of orientation polynomial can be programmed up to the 5th degree for a three-axis to five-
axis transformation.
1. Polynomials for angles: lead angle LEAD, tilt angle TILT
in relation to the plane that is defined by the start and end orientation.
2. Polynomials for coordinates: XH, YH, ZH of the second curve in space for the tool
orientation of a reference point on the tool.
With a 6-axis transformation, the rotation of rotation vector THT can be programmed with
polynomials up to the 5th degree for rotations of the tool itself, in addition to the tool orientation.
Syntax
Type 1 orientation polynomials for angles
N... PO[PHI]=(a2, a3, a4, a5)
N... PO[PSI]=(b2, b3, b4, b5)
Type 2 orientation polynomials for coordinates
N... PO[XH]=(xe, x2, x3, x4, x5)
N... PO[YH]=(ye, y2, y3, y4, y5)
N... PO[ZH]=(ze, z2, z3, z4, z5)
NC programming
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
3-axis to 5-axis transformation
Identifiers for the coordinates of the second
orientation path for tool orientation
Work preparation
3.9 Transformations
683