Example Of A Generic 6-Axis Transformation - Siemens SINUMERIK 840D sl Function Manual

F2: Multi-axis transformations
2.13 Examples
Program code
N220
N230
N240
N250
2.13.6.1

Example of a generic 6-axis transformation

Activation of a 6-axis transformation with subsequent orientation changes and traversing:
Program code
N10
N20
N30
N40
N50
A tool, of which the orientation differs from the default, is defined in the following example.
With G17, the orientation vector is in the X-Z plane and its inclination to the Z axis is 26.565
degrees because of tan(26.565) = 0.5 = $TC_DPV3[2,2] / $TC_DPV5[2,2].
The orientation normal vector is also specified. As only $TC_DPVN4[2,2] is not equal to zero,
it points in the Y direction. Orientation vector and orientation normal vector are perpendicular
to one another.
An orthogonalization is therefore not necessary, and therefore the programmed orientation
normal vector is not modified.
Program code
N100
N110
N120
N130
N140
N150
N160
N170
N180
N200
N210
136
TOFRAME
G91 Z7
C3=1
M30
A0 B0 X0 Y0 Z0
TRAORI(1, ,,, 0,0,0, 0,1,0)
T1 D1 X10 Y20 Z30 A3=0.5
C3=1 BN3=1 ORIPLANE ORIWKS
B3=0.5 C3=1 AN3=-1
M30
$TC_DP1[2,2] = 120
$TC_DP3[2,2]= 20
$TC_DPV [2,2] = 0
$TC_DPV3[2,2] = 1
$TC_DPV4[2,2] = 0
$TC_DPV5[2,2]= 0.5
$TC_DPVN3[2,2]= 0
$TC_DPVN4[2,2]= 1
$TC_DPVN5[2,2]= 0
TRAORI()
A3=5 C3=10 BN3=1
Comment
; basic orientation → B0 C0
; Z axis points in the direction
; of the orientation
; 7 mm in new Z direction
; Traverse → X2 Y3 Z6
; Orientation parallel to
; New Z axis → B0 C0
Comment
;
; Transfer the orientation vector
; and the orientation normal vector,
; transformation selection
; Change of orientation, rotation
; and traversing motion
; Rotation programmed,
; Orientation constantly
Comment
; End mill
; Length offset vector
; Tool cutting edge orientation
; X component tool cutting edge orientation
; Y component tool cutting edge orientation
; Z component tool cutting edge orientation
; X component orientation normal vector
; Y component orientation normal vector
; Z component orientation normal vector
; Pass basic orientation in call
; Place rotary axes in initial state
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions