Siemens SINUMERIK 840D sl Function Manual page 47

Programming
The orientation of the tool can be programmed in a block directly by specifying the rotary axes
or indirectly by specifying the Euler angle, RPY angle and direction vector. The following
options are available:
● directly as rotary axes A, B, C
● indirectly for 5-axis transformation:
via Euler or RPY angles in degrees via A2, B2, C2
● Indirectly for 5-axis transformation via direction vector A3, B3, C3
The identifiers for Euler angles and direction vectors can be set in machine data:
Euler angles via:
MD10620 $MN_EULER_ANGLE_NAME_TAB (name of Euler angles)
Direction vector via:
MD10640 $MN_DIR_VECTOR_NAME_TAB (name of direction vectors)
The tool orientation can be located in any block. Above all, it can be programmed alone in a
block, resulting in a change of orientation in relation to the tool tip which is fixed in its
relationship to the workpiece.
Euler or RPY
The following machine data can be used to switch between Euler and RPY angles:
MD21100 $MC_ORIENTATION_IS_EULER (angle definition for orientation programming)
Orientation reference
A tool orientation at the start of a block can be transferred to the block end in two different
ways:
● in the workpiece coordinate system with command ORIWKS
● in the machine coordinate system with command ORIMKS
ORIWKS command
The tool orientation is programmed in the workpiece coordinate system (WCS) and is thus not
dependent on the machine kinematics.
In the case of a change in orientation with the tool tip at a fixed point in space, the tool moves
along a large arc on the plane stretching from the start vector to the end vector.
ORIMKS command
The tool orientation is programmed in the machine coordinate system and is thus dependent
on the machine kinematics.
In the case of a change in orientation of a tool tip at a fixed point in space, linear interpolation
takes place between the rotary axis positions.
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
F2: Multi-axis transformations
2.2 5-axis transformation
47