Siemens SINUMERIK 840D sl Function Manual page 111

MD10674
If machine data MD10674 $MN_PO_WITHOUT_POLY = FALSE
(polynomial programming without G-function POLY programmable) it can be specified,
whether the following programming is possible:
● PO[...] or PO(...) is possible only if POLY is active, or
● PO[ ] or PO( ) polynomials are also possible without active G-code POLY.
As default, MD10674: PO_WITHOUT_POLY = FALSE set and with MD10674
$MN_PO_WITHOUT_POLY = TRUE the following programming is always possible:
● PO[...] = (...), regardless of whether POLY is active or not.
Orientation polynomials can be programmed in conjunction with different interpolation types
and are described in Section "Programming of Orientation Polynomials".
POLYPATH:
In addition to the modal G function POLY, the predefined subprogram POLYPATH(argument)
can be used to activate polynomial interpolation selectively for different axis groups. The
following arguments are allowed for the activation of polynomial interpolation
("AXES"):
("VECT"):
("AXES", "VECT"):
(without argument):
Normally, the polynomial interpolation is activated for all axis groups.
Programming of orientation vectors
An orientation vector can be programmed in each block. If polynomials are programmed for
the orientation, the interpolated orientation vector is generally turned not in the plane between
start and end vector, but it can be rotated at random from this plane.
Orientation vectors can be programmed as follows:
1. Programming of rotary axis positions with A, B and C or with the actual rotary axis names.
2. Programming in Euler angle or RPY angle via A2, B2, C2.
3. Programming of the direction vector via A3, B3, C3.
4. Programming using lead angle LEAD and tilt angle TILT.
Selection of type of interpolation
The type of interpolation of orientation axes is selected with G-code of group 51 and is
independent of the programming type of the end vector:
● ORIAXES: Linear interpolation of the machine axes or using polynomials for active POLY
or
● ORIVECT: Interpolation of the orientation vector using large circle interpolation
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
For all path axes and supplementary axes
For orientation axes
For path axes, supplementary axes and orientation axes
deactivates polynomial interpolation for all axis groups
F2: Multi-axis transformations
2.11 Orientation vectors
111