Siemens SINUMERIK 840D sl Programming Manual page 378

Transformations
6.2 Three, four and five axis transformation (TRAORI)
Parameter
ORIAXES
ORIVECT
ORIMKS
ORIWKS
A= B= C=
ORIEULER
ORIRPY
ORIRPY2
A2= B2= C2=
ORIVIRT1
ORIVIRT2
A3= B3= C3=
Description
Machine manufacturer
MD $MC_ORI_DEF_WITH_G_CODE is used to specify how the programmed angles A2,
B2, C2 are defined:
The definition is according to MD $MC_ORIENTATION_IS_EULER (standard) or the
definition is according to G group 50 (ORIEULER, ORIRPY, ORIVIRT1, ORIVIRT2).
MD $MC_ORI_IPO_WITH_G_CODE is used to define which interpolation mode type is
active: ORIWKS/ORIMKS or ORIAXES/ORIVECT.
378
Linear interpolation of machine or orientation axes
Large-radius circular interpolation (identical to
ORIPLANE)
Rotation in the machine coordinate system
Rotation in the workpiece coordinate system
Description, see the Rotations of the tool orientation
section
Programming the machine axis position
Orientation programming via Euler angle
Orientation programming via RPY angle. The rotation
sequence is XYZ and:
A2 is the rotation angle around X
B2 is the rotation angle around Y
C2 is the rotation angle around Z
Orientation programming via RPY angle. The rotation
sequence is ZYX and:
A2 is the rotation angle around Z
B2 is the rotation angle around Y
C2 is the rotation angle around X
Angle programming of virtual axes
Orientation programming using virtual orientation axes
(definition 1), definition according to MD
$MC_ORIAX_TURN_TAB_1
(definition 2), definition according to MD
$MC_ORIAX_TURN_TAB_2
Direction vector programming of direction axis
Programming Manual, 06/2009, 6FC5398-2BP20-0BA0
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