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

1.9

Orientation

1.9.1

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.
Definition
There are three different ways to define basic orientation:
1. via the transformation call
2. via the orientation of the active tool
3. via a machine data
Via the transformation call
For 1.:
When the transformation is called, the direction vector of the basic orientation can be
specified in the call, e.g. TRAORI(0, 0., 1., 5.). The direction vector is defined by
parameters 2 to 4; the vector in the example therefore has the value (0., 1., 5.).
The first parameter specifies the transformation number. The number can be omitted if the
first transformation is to be activated. To enable the parameters to be identified correctly
when specifying an orientation, a blank space has to be inserted instead of the transformation
number, e.g. TRAORI(, 0., 1., 5.).
Note
The orientation data is absolute; it will not be modified by any active frame.
The absolute value of the vector is insignificant; only the direction is relevant. Non-
programmed vector elements can be set to zero.
Please note that if all three vector components are zero (because they have been set
explicitly so or not specified at all), the basic orientation is not defined by data in the
TRAORI(...) call, but by one of the methods described below.
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
F2: Multi-axis transformations
1.9 Orientation
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