Siemens SINUMERIK 840D sl Programming Manual page 306

Transformations
6.1 General programming of transformation types
Machine type
Machine types 1 and 3
Other machine types with
additional tool rotation around
itself require a 3rd rotary 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
306
Programming with active transformation TRAORI
Interpolation of the orientation vector on a taper peripheral surface
Orientation changes to a taper peripheral surface anywhere in space
using
interpolation:
- ORIPLANE in the plane (large radius circle interpolation)
- ORICONCW on a taper peripheral surface in the clockwise direction
- ORICONCCW on a taper peripheral surface in the counter-
clockwise direction
A6, B6, C6 director vector (axis of rotation of the taper)
-OICONIO interpolation on a taper peripheral surface with:
A7, B7, C7 intermediate vectors (initial and ultimate orientation) 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, 03/2013, 6FC5398-2BP40-3BA1
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