Siemens SINUMERIK 840DE sl Function Manual page 11

3.1.5 Universal milling head ..........................................................................................................142
3.1.6 Orientation axes ...................................................................................................................143
3.1.7 Cartesian manual travel .......................................................................................................143
3.1.8 Cartesian PTP travel ............................................................................................................144
3.1.9 Generic 5-axis transformation ..............................................................................................144
3.1.10 Online tool length offset .......................................................................................................144
3.1.11 Activation via parts/program/softkey ....................................................................................144
3.1.12 Orientation compression ......................................................................................................145
3.2 5-axis transformation............................................................................................................145
3.2.1 Kinematic transformation .....................................................................................................145
3.2.2 Machine types for 5-axis transformation ..............................................................................146
3.2.3 Configuration of a machine for 5-axis transformation ..........................................................147
3.2.4 Tool orientation ....................................................................................................................153
3.2.5 Singular positions and handling ...........................................................................................157
3.3 3-axis and 4-axis transformations ........................................................................................160
3.4 Transformation with swiveled linear axis..............................................................................161
3.5 Cardan milling head .............................................................................................................167
3.5.1 Fundamentals of cardan milling head ..................................................................................167
3.5.2 Parameterization ..................................................................................................................169
3.5.3 Traverse of the cardan milling head in JOG mode...............................................................170
3.6 Programming of the 3- to 5-axis transformation...................................................................170
3.7 Generic 5-axis transformation and variants .........................................................................172
3.7.1 Functionality .........................................................................................................................172
3.7.2 Description of machine kinematics.......................................................................................173
3.7.3 Generic orientation transformation variants .........................................................................174
3.7.4 Parameterization of orientable toolholder data ....................................................................176
3.7.5 Extension of the generic transformation to 6 axes ...............................................................179
3.7.6 Extension of the generic transformation to 7 axes ...............................................................182
3.7.7 Cartesian manual travel with generic transformation ...........................................................187
3.8 Restrictions for kinematics and interpolation........................................................................188
3.8.1 Restrictions for kinematics and interpolation........................................................................188
3.8.2 Singularities of orientation....................................................................................................189
3.9 Orientation............................................................................................................................191
3.9.1 Basic orientation...................................................................................................................191
3.9.2 Orientation movements with axis limits ................................................................................193
3.9.3 Orientation compression ......................................................................................................194
3.9.4 Smoothing of the orientation characteristic ..........................................................................198
3.9.4.1 Function ...............................................................................................................................198
3.9.4.2 Commissioning.....................................................................................................................198
3.9.4.3 Activating/deactivating the orientation characteristic (ORISON, ORISOF) ..........................199
3.9.5 Path-relative orientation (ORIPATH, ORIPATHS, ORIROTC).............................................200
3.9.6 Programming of orientation polynominals............................................................................206
3.9.7 System variable for tool orientation......................................................................................209
3.10 Orientation axes ...................................................................................................................212
3.10.1 Orientation axes ...................................................................................................................212
3.10.2 JOG mode............................................................................................................................213
3.10.3 Programming for orientation transformation.........................................................................214
3.10.4 Programmable offset for orientation axes ............................................................................216
Transformations
Function Manual, 06/2019, A5E47435470B AA
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