Example Of Rotations Of Orientation Vector - Siemens SINUMERIK 840D sl Function Manual

In N40, the orientation vector is rotated in the Z-X plane which is spanned by the start and
end vector. Here, the PHI angle is interpolated in a line in this plane between the values 0 and
90 degrees (large circle interpolation).
The additional specification of the polynomials for the two angle PHI and PSI means that the
interpolated orientation vector can lies anywhere between the start and end vector.
PHI angle using polynomial PHI
In contrast to the example above, the PHI angle is interpolated using the polynomial PHI(u) =
(90-10)u + 10*u
The angle PSI is not equal to zero and is interpolated according to the following polynomial:
PSI(u) = -10*u + 10*u
The maximum "tilt" of the orientation vector from the plane between the start and end vector is
obtained in the middle of the block (u = 1/2).
N10 TRAORI
N20 POLY
N30 A3=0 B3=0 C3=1
N40 A3=1 B3=0 C3=0
1.13.5.2

Example of rotations of orientation vector

Rotations with angle of rotation THETA
In the following example, the angle of rotation is interpolated in linear fashion from starting
value 0 degrees to end value 90 degrees. The angle of rotation changes according to a
parabola or a rotation can be executed without a change in orientation. tool orientation is
rotated from the Y direction to the X direction.
N10 TRAORI
N20 G1 X0 Y0 Z0 F5000
N30 A3=0 B3=0 C3=1 THETA=0
N40 A3=1 B3=0 C3=0 THETA=90
N50 A3=0 B3=1 C3=0 PO[THT]=(180,90)
N60 A3=0 B3=1 C3=0 THETA=IC(-90)
N70 ORIROTT
N80 A3=1 B3=0 C3=0 THETA=30
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
2
2 between the values 0 and 90 degrees.
2
; Polynomial interpolation is possible.
; Tool vector in +Z direction (start vector)
PO[PHI]=(10)
PO[PSI]=(10)
F2: Multi-axis transformations
; in +X direction (end vector)
; Activation of orientation
transformation
;
; Tool orientation
; In Z direction with angle of rotation 0
; In X direction and rotation
; of 90 degrees
; in Y direction and rotation
; to 180 degrees
; Remains constant and rotation
; to 90 degrees.
; Angle of rotation relative to
; change of orientation.
; Rotation vector in angle of
; 30 degrees to X-Y plane.
1.13 Examples
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