Siemens SINUMERIK 840D sl Function Manual page 107

References:
Programming Manual Fundamentals
Note
The four variants of orientation programming are mutually exclusive. If mixed values are
programmed, alarm 14130 or alarm 14131 is generated.
Exception:
For 6-axis kinematics with a 3rd degree of freedom for orientation, C2 may also be programmed
for variants 3 and 4. C2 in this case describes the rotation of the orientation vector about its
own axis.
Example
For orientation axes for kinematics with 6 or 5 transformed axes, see Section "Example for
orientation axes (Page 131)".
Interpolation type
The following machine data is used to specify which interpolation type is used:
MD21104 $MC_ORI_IPO_WITH_G_CODE (G-code for orientation interpolation):
● ORIMKS or ORIWKS (for description, see Section "Tool orientation (Page 46)")
● G-code group 51 with the commands ORIAXES or ORIVECT
– ORIAXES:
– ORIVECT:
Range of values
Value range for orientation axes:
● 180 degrees < A2 < 180 degrees
● 90 degrees < B2 < 90 degrees
● 180 degrees < C2 < 180 degrees
All possible rotations can be represented with this value range. Values outside the range are
normalized by the control system to within the range specified above.
Feedrate when programming ORIAXES
Feedrate for an orientation axis can be limited via the FL[ ] instruction (feed limit).
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Linear interpolation of machine axes or orientation axes.
Orientation is controlled by the orientation vector being swivelled in the plane spanned
by the start and end vectors (large circle interpolation). With 6 transformation axes a
rotation around the orientation vector is excuted in addition to the swivel movement.
With ORIVECT the orientation axes are always traversed on the shortest possible path.
F2: Multi-axis transformations
2.10 Orientation axes
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