Siemens SINUMERIK 840D sl Programming Manual page 340

Transformations
6.5 Orientations relative to the path
Orientation direction of the tool for 3-axis to 5-axis transformation
The orientation direction of the tool can be programmed via Euler angles, RPY angles or
direction vectors as with 3-axis to 5-axis transformations. Orientation changes of the tool in
space can also be achieved by programming the large-circle interpolation ORIVECT, linear
interpolation of the orientation axes ORIAXES, all interpolations on the peripheral surface of
a taper ORICONxx, and interpolation in addition to the curve in space with two contact points
of the tool ORICURVE.
G....
X Y Z
ORIAXES
ORIVECT
ORIMKS
ORIWKS
A= B= C=
ORIEULER
ORIRPY
A2= B2= C2=
ORIVIRT1
ORIVIRT2
A3= B3= C3=
ORIPLANE
ORICONCW
ORICONCCW
ORICONTO
A6= B6= C6=
NUT=angle
NUT=+179
NUT=-181
ORICONIO
A7= B7= C7=
ORICURVE
XH YH ZH, e.g. with
polynomials
PO[XH]=(xe, x2, x3,
x4, x5)
Note
If the tool orientation with active ORIAXES is interpolated via the orientation axes, the angle
of rotation is only initiated relative to the path at the end of block.
340
Details of the rotary axis motion
Details of the linear axes
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
Description, see the Rotations of the tool orientation section
Programming the machine axis position
Orientation programming via Euler angle
Orientation programming via RPY angle
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
Interpolation in the plane (large-circle interpolation)
Interpolation on the peripheral surface of a taper in the clockwise
direction
Interpolation on the peripheral surface of a taper in the counter-
clockwise direction
Interpolation on the peripheral surface of a taper with tangential
transition
Programming of a rotary axis of the taper (normalized vector)
Opening angle of taper in degrees
Traverse angle smaller than or equal to 180 degrees
Traverse angle greater than or equal to 180 degrees
Interpolation on the peripheral surface of a taper
Intermediate orientation (programming as normalized vector)
Interpolation of the orientation specifying a movement between
two contact points of the tool. In addition to the end points,
additional curve polynomials can also be programmed.
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
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