Siemens SINUMERIK 840DE sl Function Manual page 154

F2: Multi-axis transformations
3.2 5-axis transformation
MD10620 $MN_EULER_ANGLE_NAME_TAB (name of Euler angles)
Direction vector via:
MD10640 $MN_DIR_VECTOR_NAME_TAB (name of direction vectors)
The tool orientation can be located in any block. Above all, it can be programmed alone in a
block, resulting in a change of orientation in relation to the tool tip which is fixed in its
relationship to the workpiece.
Euler or RPY
The following machine data can be used to switch between Euler and RPY angles:
MD21100 $MC_ORIENTATION_IS_EULER (angle definition for orientation programming)
Orientation reference
A tool orientation at the start of a block can be transferred to the block end in two different ways:
● in the workpiece coordinate system with command ORIWKS
● in the machine coordinate system with command ORIMKS
ORIWKS command
The tool orientation is programmed in the workpiece coordinate system (WCS) and is thus not
dependent on the machine kinematics.
In the case of a change in orientation with the tool tip at a fixed point in space, the tool moves
along a large arc on the plane stretching from the start vector to the end vector.
ORIMKS command
The tool orientation is programmed in the machine coordinate system and is thus dependent on
the machine kinematics.
In the case of a change in orientation of a tool tip at a fixed point in space, linear interpolation
takes place between the rotary axis positions.
The orientation is selected via NC language commands ORIWKS and ORIMKS.
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Function Manual, 06/2019, A5E47435470B AA
Transformations