Siemens SINUMERIK 840D sl Programming Manual page 254

Transformations
7.2 Three, four and five axis transformation (TRAORI)
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
2. If the machine data for defining the orientation axes is set to one via G code, the
3. If the machine data for defining the orientation angle is set to one via G code and the
Programming
G1 X Y Z A B C
G1 X Y Z A2= B2= C2=
G1 X Y Z A3== B3== C3==
G1 X Y Z A4== B4== C4==
G1 X Y Z A5== B5== C5==
LEAD=
TILT=
7-16
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.
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.
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.
Programming of rotary axis motion
Programming in Euler angles
Programming of directional vector
Programming the surface normal vector at block
start
Programming the surface normal vector at end of
block
Lead angle for programming tool orientation
Tilt angle for programming tool orientation
Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
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