Siemens SINUMERIK 840D sl Programming Manual page 246

Transformations
7.1 General programming of transformation types
Machine type
Machine types 1 and 3
Other machine types with
additional tool rotation
around itself require a 3rd
round axis
Orientation transformation,
e.g. generic 6-axis
transformation. Rotations
of orientation vector.
Orientation relative to the
path for orientation
changes relative to the
path or rotation of the
rotary vector tangentially to
the path
7-8
Programming with active transformation TRAORI
or
- ORICONTO on the peripheral surface of a taper, tangential
transition
Changes in orientation in relation to a path with
- ORICURVE specification of the movement of two contact
points using
PO[XH]=(xe, x2, x3, x4, x5) orientation polynomials up to the
fifth degree
PO[YH]=(ye, y2, y3, y4, y5) orientation polynomials up to the
fifth degree
PO[ZH]=(ze, z2, z3, z4, z5) orientation polynomials up to the
fifth degree
- ORIPATHS smoothing of orientation characteristic with
A8, B8, C8 reorientation phase of tool corresponding to:
direction and path length of tool during retraction movement
Programming of rotations for tool orientation with
LEAD angle, angle relative to surface normal vector
PO[PHI] programming of a polynomial up to the fifth degree
TILT angle rotation about path tangent (Z direction)
PO[PSI] programming of a polynomial up to the fifth degree
THETA angle of rotation (rotation about tool direction in Z)
THETA= value reached at end of block
THETA=AC(...) absolute non-modal switching to dimensions
THETA=IC(...) non-modal switching to chain dimensions
THETA=Θ interpolate programmed angle G90/G91
e
PO[THT]=(..) programming of a polynomial up to the fifth
degree
programming of the rotation vector
- ORIROTA rotation, absolute
- ORIROTR relative rotation vector
- ORIROTT tangential rotation vector
Changes in orientation relative to the path with
- ORIPATH tool orientation relative to the path
- ORIPATHS also in the event of a blip in the orientation
characteristic
programming of rotation vector
- ORIROTC tangential rotation vector, rotation to path tangent
Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
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