Siemens SINUMERIK 840D sl Programming Manual page 264

Transformations
7.2 Three, four and five axis transformation (TRAORI)
Programming
Axis identifiers A2, B2 and C2 are used to program the orientation axes.
N... ORIAXES or ORIVECT
N... G1 X Y Z A B C
or
N... ORIPLANE
or
N ... ORIEULER or ORIRPY and/or
ORIRPY2
N... G1 X Y Z A2= B2= C2=
or
N... ORIVIRT1 or ORIVIRT2
N... G1 X Y Z A3= B3= C3=
Other rotary axis offsets of the orientation axes can be programmed for orientation changes
along the peripheral surface of a taper in space; see "Orientation programming along the
peripheral surface of a taper (ORIPLANE, ORICONxx)".
Parameters
ORIAXES
ORIVECT
ORIMKS
ORIWKS
A= B= C=
ORIEULER
ORIRPY
ORIRPY2
A2= B2= C2=
ORIVIRT1
ORIVIRT2
A3= B3= C3=
7-26
Linear or large-radius circular
interpolation
or
orientation interpolation of the plane
or
Orientation angle Euler/RPY angle
Angle programming of virtual axes
or
virtual orientation axes definition 1 or 2
direction vector programming
Linear interpolation of machine or orientation axes
Large-radius circular interpolation (identical to
ORIPLANE)
Rotation in the machine coordinate system
Rotation in the workpiece coordinate system
Description, see the Rotations of the tool orientation
section
Programming the machine axis position
Orientation programming via Euler angle
Orientation programming via RPY angle. The rotation
sequence is XYZ and:
A2 is the rotation angle around X
B2 is the rotation angle around Y
C2 is the rotation angle around Z
Orientation programming via RPY angle. The rotation
sequence is ZYX and:
A2 is the rotation angle around Z
B2 is the rotation angle around Y
C2 is the rotation angle around X
Angle programming of virtual axes
Orientation programming using virtual orientation axes
(definition 1), definition according to MD
$MC_ORIAX_TURN_TAB_1
(definition 2), definition according to MD
$MC_ORIAX_TURN_TAB_2
Direction vector programming of direction axis
Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
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