Siemens SINUMERIK 840D sl Programming Manual page 278

Transformations
7.5 Orientations relative to the path
Parameters
Tool orientation relative to the path
ORIPATH
ORIPATHS
LEAD
TILT
THETA
PO[PHI]
PO[PSI]
PO[THT] (
Note
Angle of rotation THETA
A 6-axis transformation is required to rotate a tool with a third rotary axis that acts as an
orientation axis about itself.
7-40
Tool orientation relative to the path
Tool orientation relative to the path; blip in
orientation characteristic is smoothed
Angle relative to the surface normal vector in the plane
that is defined by the path tangent and the surface
normal vector
Rotation of orientation in the Z direction or rotation
about the path tangent
Rotation about the tool direction toward Z
Orientation polynomial for the LEAD angle
Orientation polynomial for the TILT angle
Orientation polynomial for the THETA angle of rotation
Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
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