Programming For Orientation Transformation - Siemens SINUMERIK 840D sl Function Manual

Feedrate in JOG
When orientation axes are traversed manually, the channel-specific feedrate override switch
or the rapid traverse override switch in rapid traverse override is applied.
Until now, velocities for traversal in JOG mode have always been derived from the machine
axis velocities. However, geometry and orientation axes are not always assigned directly to a
machine axis.
For this reason, new machine data have been introduced for geometry and orientation axes,
allowing separate velocities to be programmed for these axis types:
• MD21150 $MC_JOG_VELO_RAPID_ORI[n]
(conventional fast traverse for ORI axes)
• MD21155 $MC_JOG_VELO_ORI[n]
(conventional ORI axis speed)
• MD21160 $MC_JOG_VELO_RAPID_GEO[n]
(conventional fast traverse for GEO axes)
• MD21165 $MC_JOG_VELO_GEO[n]
(conventional GEO axis speed)
Appropriate speed values for the axes must be programmed in these data.
Acceleration
Acceleration for the orientation axes can be set by means of the following machine data:
MD21170 $MC_ACCEL_ORI[n] (ascceleration for orientation axes)
1.10.2

Programming for orientation transformation

The values can only be programmed in conjunction with an orientation transformation.
Programming of orientation
Orientation axes are programmed by means of axis identifiers A2, B2 and C2.
Euler and RPY values are distinguished on the basis of G-group 50:
•
ORIEULER:
Orientation programming on the basis of Euler angles (default)
•
ORIRPY:
Orientation programming via RPY angles
•
ORIVIRT1:
Orientation programming on the basis of virtual orientation axes (definition 1)
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
F2: Multi-axis transformations
1.10 Orientation axes
103