Example For The Modification Of Rotary Axis Motion; Example: Compression Of An Orientation - Siemens SINUMERIK 840D sl Function Manual

F2: Multi-axis transformations
2.13 Examples
2.13.6.3

Example for the modification of rotary axis motion

The machine is a 5-axis machine of machine type 1 (two-axis swivel head with CA kinematics)
on which both rotary axes rotate the tool (transformation type 24). The first rotary axis is a
modulo axis parallel to Z (C axis); the second rotary axis is parallel to Y (B axis) and has a
traversing range from -5 degrees to +185 degrees.
To allow modification at any time, the following machine data has the value 2:
MD21180 $MC_ROT_AX_SWL_CHECK_MODE (check software limits for orientation axes)
N10 X0 Y0 Z0 B0 C0
N20 TRAORI( )
N30 B-1 C10
N40 A3=-1 C3=1 ORIWKS
N50 M30
At the start of block N40 in the example program, the machine is positioned at rotary axis
positions B-1 C10. The programmed end orientation can be achieved with either of the axis
positions B-45 C0 (1st solution) or B45 C180 (2nd solution).
The first solution is selected initially, because it is nearest to the starting orientation and, unlike
the second solution, can be achieved using large circle interpolation (ORIWKS). However, this
position cannot be reached because of the axis limits of the B axis.
The second solution is therefore used instead, i.e. the end position is B45 C180. The end
orientation is achieved by axis interpolation. The programmed orientation path cannot be
followed.
2.13.7

Example: Compression of an orientation

In the example program below, a circle approached by a polygon definition is compressed.
The tool orientation moves on the outside of the taper at the same time. Although the
programmed orientation changes are executed one after the other, but in an unsteady way,
the compressor function generates a smooth motion of the orientation.
Programming
DEF INT NUMBER=60
DEF REAL RADIUS=20
DEF INT COUNTER
DEF REAL ANGLE
N10 G1 X0 Y0 F5000 G64
$SC_COMPRESS_CONTUR_TOL=0.05
$SC_COMPRESS_ORI_TOL=5
TRAORI
COMPCURV
138
; basic orientation 5-axis transformation
; Rotary axis positions B-1 and C10
; large circle interpolation in WCS
Comment
; Maximum deviation of the contour = 0.05 mm
; Maximum deviation of the orientation = 5 de-
grees
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions