Siemens SINUMERIK 840D sl Programming Manual page 324

Transformations
6.2 Three, four and five axis transformation (TRAORI)
Meaning
ORIAXES
ORIVECT
ORIMKS
ORIWKS
A= B= C=
ORIEULER
ORIRPY
ORIRPY2
A2= B2= C2=
ORIVIRT1/ORIVIRT2
A3= B3= C3=
Description
Machine manufacturer
MD21102 $MC_ORI_DEF_WITH_G_CODE specifies how the programmed angles A2, B2,
C2 are defined:
The definition is according to MD21100 $MC_ORIENTATION_IS_EULER (standard) or the
definition is according to G group 50 (ORIEULER, ORIRPY, ORIVIRT1, ORIVIRT2).
MD21104 $MC_ORI_IPO_WITH_G_CODE is used to define which interpolation mode type is
active: ORIWKS/ORIMKS or ORIAXES/ORIVECT.
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Linear interpolation of machine or orientation axes
Large-circle interpolation (identical to ORIPLANE)
Rotation in the machine coordinate system
Rotation in the workpiece coordinate system
For a description, see "Reference of the orientation axes
(ORIWKS, ORIMKS): (Page 321)".
Programming the machine axis position
Orientation programming via Euler angle
Orientation programming via RPY angle
The rotation sequence is XYZ and:
 A2 is the angle of rotation around X
 B2 is the angle of rotation around Y
 C2 is the angle of rotation around Z
Orientation programming via RPY angle
The rotation sequence is ZYX and:
 A2 is the angle of rotation around Z
 B2 is the angle of rotation around Y
 C2 is the angle of rotation around X
Angle programming of virtual axes
Orientation programming using virtual orientation axes
Definition 1:
Definition according to MD21120 $MC_ORIAX_TURN_TAB_1
Definition 2:
Definition according to MD21130 $MC_ORIAX_TURN_TAB_2
Direction vector programming of direction axis
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
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