Orientation Axes - Siemens SINUMERIK 840D sl Function Manual

1.1.5

Orientation axes

Model for describing change in orientation
There is no such simple correlation between axis motion and change in orientation in case of
robots, hexapodes or nutator kinamatics, as in the case of conventional 5-axes machines.
For this reason, the change in orientation is defined by a model that is created independently
of the actual machine. This model defines three virtual orientation axes which can be
visualized as rotations about the coordinate axes of a rectangular coordinate system.
For the purpose of 6-axis transformation, a third degree of freedom for orientation, describing
the rotation of the tool about itself, has been introduced.
Real-time transformation
The Cartesian coordinates are converted from basic to machine coordinate system by means
of a real-time transformation process.
These Cartesian coordinates comprise:
• Geometry axes
Geometry axes describe the machining point.
• Orientation axes
Orientation axes describe the orientation of a tool in space.
Tool orientation
You can define the orientation of the tool in space as follows using linear interpolation, large
circle interpolation and by means of orientation vectors:
• Direct programming of rotary axis positions A, B, C
5-axis transformation by programming:
-
-
• Programming using lead angle LEAD and tilt angle TILT
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
The Euler- or RPY angle in degrees through A2,B2,C2
or
The direction vector over A3,B3,C3
F2: Multi-axis transformations
1.1 Brief description
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