Siemens SINUMERIK 840D Manual page 102

7.1
102
Reference section
5-axis functionality
Transformation
TRAORI Activation of transformation 1
TRAORI(1) Activation of transformation 1
TRAORI(2) Activation of transformation 2
TRAORI(1, ..., ..., ...) Activation of transformation 1, generic transformation, additional 3
parameters for basic orientation vector
TRAORI(2, ..., ..., ...) Activation of transformation 2, generic transformation, additional 3
parameters for basic orientation vector
TRAFOOF Deactivation of transformation
Orientation programming
ORIEULER Orientation programming on the basis of Euler angles (default)
ORIRPY Orientation programming on the basis of RPY angles
In both cases, the function will only be effective if
$MC_ORI_DEF_WITH_G_CODE is set to 1. Otherwise, specified via
machine data. On older systems, a distinction can only be made by
means of machine data $MC_ORIENTATION_IS_EULER.
A2=... B2=... C2=... Euler or RPY angles
A3=... B3=... C3=... Cartesian orientation vector
XH=..., YH=..., ZH=... In the case of ORIVECT or ORIPLANE: synonymous with A3=... etc.
More extensive meaning in conjunction with ORICURVE; in this case
either serves as a control polygon with BSPLINE, or has a polynomial
definition with POLY, otherwise linear interpolation for the upper
straight line, geometric large circle, but not in terms of velocity.
LEAD, TILT Lead/tilt angle relative to normal vectors and path tangent. The normal
vectors at the start of the block and at the end are defined by A4=...
B4=... C4=... und A5=... B5=... C5=...
Only in conjunction with ORIPATH.
Orientation reference
ORIMKS The reference system for the orientation vector is the basic coordinate
system. When $MC_ORI_IPO_WITH_G_CODE = 0, identical to ORI-
AXES at the same time.
ORIWKS The reference system for the orientation vector is the workpiece coor-
dinate system. When $MC_ORI_IPO_WITH_G_CODE = 0, identical to
ORIVECT at the same time.
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