Orientation; Basic Orientation - Siemens SINUMERIK 840D sl Function Manual

End point within the circle
If the end point is within the circle, the first axis comes to a standstill and the second axis moves
until the difference between target and actual orientation is minimal. However, since the first
rotary axis does not move, the orientation will generally deviate from the programmed value
(see previous figure). However, the programmed orientation can at least be reached exactly
if the first rotary axis happens to be positioned correctly.
Note
In the previous Figure the resulting path is a straight line because the position of the first rotary
axis is constant on that path. This representation is always correct, irrespective of the angle
between the two rotary axes. The orientation vector only moves in a plane, however, if the two
rotary axes and the basic orientation are all mutually perpendicular. In all other cases, the
orientation vector describes the outside of a cone.
End point outside the circle
If the orientation interpolation describes a path through the circle, while the end point is outside
the circle, the end point is approached with axis interpolation. This applies in particular if the
interpolation starting point is located inside the circle. Path deviations from the programmed
setpoint orientation are thus unavoidable.
2.9

Orientation

2.9.1

Basic orientation

Differences to the previous 5-axis transformations
In the 5-axis transformations implemented to date, basic orientation of the tool was defined by
the type of transformation.
Generic 5-axis transformation can be used to enable any basic tool orientation, i.e. space
orientation of the tool is arbitrary, with axes in their initial positions.
If an orientation is programmed by means of Euler angles, RPY angles (A2, B2, C2) or vectors
(A3, B3, C3), basic orientation is taken into consideration, i.e. the rotary axes are positioned
so that a tool positioned in basic orientation is traversed to the programmed orientation.
If the rotary axes are programmed directly, basic orientation has no effect.
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
F2: Multi-axis transformations
2.9 Orientation
85