Orientation Programming For 5-Axis Kinematics - Siemens SINUMERIK 840D sl Function Manual

Hide thumbs Also See for SINUMERIK 840D sl:

Table of Contents

TE4: Handling transformation package - 840D sl only

17.6 Tool orientation

Figure 17-29 Orientation angle for 4-axis kinematic

Orientation programming for 5-axis kinematics

Tool orientation for 5-axis kinematics

For 5-axis kinematics, when programming via orientation vector, it is assumed that the

orientation vector corresponds to the x component of the tool.

When programming via orientation angle (RPY angle according to robotics definition), the x

component of the tool is considered as the initial point for rotations.

For this purpose, the vector in the x tool direction, as shown in Fig. "Orientation angle for 5-

axis kinematic", is first rotated around the Z axis by the angle A and then around the rotated

Y axis by the angle B. The rotation by the angle C is not possible for 5-axis kinematics because

of the restricted degrees of freedom for the orientation.

Function Manual, 01/2015, 6FC5397-2BP40-5BA2

Special functions

Sinumerik 828d Sinumerik 840de sl