Siemens SINUMERIK 840D sl Programming Manual page 262

Transformations
7.2 Three, four and five axis transformation (TRAORI)
Parameters
ORIMKS
ORIWKS
Note
ORIWKS is the basic setting. In the case of a 5-axis program, if it is not immediately obvious
on which machine it is to run, always choose ORIWKS. Which movements the machine
actually executes depend on the machine kinematics.
With ORIMKS you can program actual machine movements, for example, to avoid collisions
with devices, etc.
Description
With ORIMKS, the movement executed by the tool depends on the machine kinematics. In
the case of a change in orientation of a tool tip at a fixed point in space, linear interpolation
takes place between the rotary axis positions.
With ORIWKS, the movement executed by the tool does not depend on the machine
kinematics. With an orientation change with a fixed tool tip, the tool moves in the plane set
up by the start and end vectors.
7-24
Rotation in the machine coordinate system
Rotation in the workpiece coordinate system
Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
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