Programming For Orientation Transformation - Siemens SINUMERIK 840DE sl Function Manual

F2: Multi-axis transformations
3.10 Orientation axes
Velocity
When orientation axes are traversed manually, the channel-specific feedrate override switch or
the rapid traverse override switch in rapid traverse override applies.
Normally, velocities when traversing in the jog mode have always been derived from the
machine axis velocities. However, for geometry and orientation axes, there is not necessarily
a direct assignment to a particular machine axis. This is the reason that dedicated machine data
exist for geometry axes and orientation axes, which allow velocities to be separately specified:
● MD21150 $MC_JOG_VELO_RAPID_ORI[n] (conventional rapid traverse for ORI axes)
● MD21155 $MC_JOG_VELO_ORI[n] (conventional ORI axis velocity)
● MD21160 $MC_JOG_VELO_RAPID_GEO[n] (conventional rapid traverse for GEO axes)
● MD21165 $MC_JOG_VELO_GEO[n] (conventional GEO axis velocity)
Acceleration
The acceleration for orientation axes is set in machine data:
MD21170 $MC_ACCEL_ORI[n] (acceleration for orientation axes)
3.10.3

Programming for orientation transformation

The values can only be programmed in conjunction with an orientation transformation.
Programming of orientation
Orientation axes are programmed by means of axis names A2, B2 and C2.
Euler and RPY values are distinguished on the basis of G-group 50:
● ORIEULER:
Orientation programming on the basis of Euler angles (default)
● ORIRPY:
Orientation programming via RPY angles
● ORIVIRT1:
Orientation programming on the basis of virtual orientation axes (definition 1)
● ORIVIRT2:
Orientation programming on the basis of virtual orientation axes (definition 2)
The type of interpolation is distinguished on the basis of G-group 51:
● ORIAXES:
Orientation programming of linear interpolation of orientation axes or machine axes
● ORIVECT:
Orientation programming of large circle interpolation of orientation axes (interpolation of the
orientation vector)
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Function Manual, 06/2019, A5E47435470B AA
Transformations