Orientation Programming; Overview; Orimks/Oriwks; Orivirt1 - Siemens SINUMERIK 840D sl Programming Manual

Programming

4.3 Orientation programming

4.3 Orientation programming
4.3.1

Overview

The orientation is programmed via virtual rotary axis angles A, B, C. When doing this, the tool
coordinate system (TCS) is rotated with respect to the reference coordinate system. The
reference coordinate system can be either the machine coordinate system (MCS) or the
workpiece coordinate system (WCS).
4.3.2

ORIMKS/ORIWKS

You define which reference system is active for the orientation programming using the
programming commands ORIMKS and ORIWKS.
● ORIMKS: The reference system is the basic coordinate system
● ORIWKS: The workpiece coordinate system is the reference system
4.3.3

ORIVIRT1

You define the rotation sequence for interpreting orientation angles A, B, C in machine data
$MC_ORIAX_TURN_TAB_1[0-2]. The following table shows the "KARDAN" setting.
Machine data
N21120 $MC_ORIAX_TURN_TAB_1[0]
N21120 $MC_ORIAX_TURN_TAB_1[1]
N21120 $MC_ORIAX_TURN_TAB_1[2]
Using programming command ORIVIRT1, you activate the rotation sequence set in machine
data $MC_ORIAX_TURN_TAB_1[0-2].
Example, orientation programming (ORIMKS) without active tool
The following programming example shows the orientation programming in the machine
coordinate system (ORIMKS) without active tool.
N12 G500
N13 ORIMKS
N14 ORIVIRT1
N15 TRAORI
N16 G1 X1590 Y0 Z1784 A=0 B=-90 C=0 F2000
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Value Unit
1 First rotation around X (A turns around X)
2 Second rotation around Y (B turns around Y')
3 Third rotation around Z (C turns around Z'')
SINUMERIK Run MyRobot /Direct Control
Programming Manual, 12/2018, A5E45237742B AB