Siemens SINUMERIK 840D sl Programming Manual page 686

Work preparation
3.9 Transformations
Meaning
ORIROTA:
ORIROTR:
ORIROTT:
ORIROTC:
THETA:
THETA=<value>:
THETA=Θe:
THETA=AC(...):
THETA=AC(...):
Θe:
PO[THT]=(....):
Example: Rotations of the orientations
Program code
N10 TRAORI
N20 G1 X0 Y0 Z0 F5000
N30 A3=0 B3=0 C3=1 THETA=0
N40 A3=1 B3=0 C3=0 THETA=90
N50 A3=0 B3=1 C3=0 PO[THT]=(180,90)
N60 A3=0 B3=1 C3=0 THETA=IC(-90)
N70 ORIROTT
N80 A3=1 B3=0 C3=0 THETA=30
When interpolating block N40, the angle of rotation from initial value of 0 degrees to final value
of 90 degrees is interpolated linearly. In block N50, the angle of rotation changes from 90
degrees to 180 degrees, according to parabola θ(u) = +90u2. In N60, a rotation can also be
executed without a change in orientation taking place.
With N80, the tool orientation is rotated from the Y direction toward the X direction. The change
in orientation takes place in the X/Y plane and the rotation vector describes an angle of 30
degrees to this plane.
Further information
ORIROTA
The angle of rotation THETA is interpolated with reference to an absolute direction in space. The
basic direction of rotation is defined in the machine data.
686
Angle of rotation to an absolute direction of rotation
Angle of rotation relative to the plane between the start and end orientation
Angle of rotation as a tangential rotation vector to the change of orientation
Angle of rotation as a tangential rotation vector to the path tangent
Rotation of the orientation vector
Angle of rotation in degrees reached by the end of the block
Angle of rotation with end angle Θ
Non-modal switchover to absolute dimensions
Non-modal switchover to incremental dimensions
End angle of rotational vector both absolute with G90 and relative with G91
(incremental dimensioning) is active
Polynomial for angle of rotation
Comment
; Activate orientation transformation
; Tool orientation
; In Z direction with angle of rotation 0
;In X direction and rotation about 90 degrees
;Orientation
;In Y direction and rotation about 180 degrees
;Remains constant and rotation to 90 degrees
;Angle of rotation relative to change of ori-
entation
;Rotation vector in angle 30 degrees to X/Y
plane
of rotation vector
e
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
NC programming