Siemens Sinumerik 840D sl Programming Manual page 328

Transformations
6.1 General programming of transformation types
Machine type
Machine types 1 and 3
Other machine types with
additional tool rotation
around itself require a 3rd
rotary axis
Orientation
transformation, e.g.
generic 6-axis
transformation. Rotations
of orientation vector.
Orientation relative to the
path for orientation
changes relative to the
path or rotation of the
rotary vector tangentially
to the path
328
Programming with active transformation TRAORI
Interpolation of the orientation vector on a taper peripheral surface
Orientation changes to a taper peripheral surface anywhere in space
using interpolation:
- ORIPLANE in the plane (large radius circle interpolation)
- ORICONCW on a taper peripheral surface in the clockwise direction
- ORICONCCW on a taper peripheral surface in the counter-clockwise
direction
A6, B6, C6 director vector (axis of rotation of the taper)
-OICONIO interpolation on a taper peripheral surface with:
A7, B7, C7 intermediate vectors (initial and ultimate orientation) or
- ORICONTO on the peripheral surface of a taper, tangential transition
Changes in orientation in relation to a path with
- ORICURVE specification of the movement of two contact points using
PO[XH]=(xe, x2, x3, x4, x5) orientation polynomials up to the fifth degree
PO[YH]=(ye, y2, y3, y4, y5) orientation polynomials up to the fifth degree
PO[ZH]=(ze, z2, z3, z4, z5) orientation polynomials up to the fifth degree
- ORIPATHS smoothing of orientation characteristic with
A8, B8, C8 reorientation phase of tool corresponding to: direction and
path length of tool during retraction movement
Programming of rotations for tool orientation with
LEAD angle, angle relative to surface normal vector
PO[PHI] programming of a polynomial up to the fifth degree
TILT angle rotation about path tangent (Z direction)
PO[PSI] programming of a polynomial up to the fifth degree
THETA angle of rotation (rotation about tool direction in Z)
THETA= value reached at end of block
THETA=AC(...) absolute non-modal switching to dimensions
THETA=IC(...) non-modal switching to chain dimensions
THETA=Θ interpolate programmed angle G90/G91
e
PO[THT]=(..) programming of a polynomial up to the fifth degree
programming of the rotation vector
- ORIROTA rotation, absolute
- ORIROTR relative rotation vector
- ORIROTT tangential rotation vector
Changes in orientation relative to the path with
- ORIPATH tool orientation relative to the path
- ORIPATHS also in the event of a blip in the orientation characteristic
programming of rotation vector
- ORIROTC tangential rotation vector, rotation to path tangent
Programming Manual, 02/2011, 6FC5398-2BP40-1BA0
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