Siemens SINUMERIK 840DE sl Function Manual page 226

F2: Multi-axis transformations
3.11 Orientation vectors
THETA = IC(...)
PO[THT] = (...)
Angle THETA is programmed in degrees.
Interpolation of the rotation vector is defined by modal G commands:
ORIROTA
ORIROTR
ORIROTT
ORIROTC
PL
These G commands define the reference direction of the angle of rotation. The meaning of the
programmed angle of rotation changes accordingly.
Supplementary conditions
The angle of rotation or rotation vector can only be programmed in all four modes if the
interpolation type ORIROTA is active.
1. Rotary axis positions
2. Euler angle via A2, B2, C2
3. RPY angle via A2, B2, C2
4. Direction vector via A3, B3, C3
If ORIROTR or ORIROTT is active, the angle of rotation can only be programmed directly with
THETA.
The other programming options must be excluded in this case, since the definition of an
absolute direction of rotation conflicts with the interpretation of the angle of rotation in these
cases. Possible programming combinations are monitored and an alarm is output if applicable.
A rotation can also be programmed in a separate block without an orientation change taking
place. In this case, ORIROTR and ORIROTT are irrelevant. In this case, the angle of rotation
is always interpreted with reference to the absolute direction (ORIROTA).
A programmable rotation of the orientation vector is only possible when an orientation
transformation (TRAORI) is active.
A programmed orientation rotation is only interpolated if the machine kinematics allow rotation
of the tool orientation (e.g. 6-axis machines).
226
Non-modal switchover to incremental dimensions
Programming a polynomial for rotation angle THETA.
Angle of rotation to an absolute direction of rotation
Angle of rotation relative to the plane between the start and end
orientation
Angle of rotation relative to the change of the orientation vector tan‐
gential rotation vector to the orientation change
Angle of rotation relative to the change of the orientation vector tan‐
gential rotation vector to the path tangent
Length of the parameter interval on which the polynomials are de‐
fined. The interval always starts at 0. PL = 1 is active, if no PL value
is programmed.
Function Manual, 06/2019, A5E47435470B AA
Transformations