Siemens SINUMERIK 840D sl Function Manual page 32

F2: Multi-axis transformations
2.1 Brief description
Tool orientation
Tool orientation can be specified in two ways:
● Machine-related orientation
The machine-related orientation is dependent on the machine kinematics.
● Workpiece-related orientation
The workpiece-related orientation is not dependent on the machine kinematics.
It is programmed by means of:
– Euler angles
– RPY angles
– Vector components
The direction of the tool is described in the workpiece coordinate system with the part
orientation. It is possible to program a specific component of the tool in its orientation to
the workpiece. In most cases, this will be a longitudinal axis of the tool with the tool tip (Tool
Center Point, TCP), which is also referred to as TCP-programming.
System variables for orientation
Part programs and synchronized actions can access the system variables that provide
information on the following, in read only mode:
● End orientation of block (run-in value)
● Setpoint orientation
● Actual value orientation
● Switching between setpoint and actual value orientation
● Status for variables of actual value orientation
Special cases of 5-Axis transformation
The following transformations are to be entered as special cases of the general 5-Axis
transformation:
● 3-axis and 4-axis transformation
There are 2 or 3 linear axes and a rotary axis.
● Swivelling linear axis
One of the rotary axis rotates the 3rd linear axis.
● Universal milling head
The two rotary axes are positioned at a projectable angle in relation to one another.
Knowledge of the general 5-axis transformation is a prerequisite for all of these transformations.
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Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions