Orientation Axis Reference (Oriwks, Orimks) - Siemens Sinumerik 840D sl Programming Manual

Transformations
6.2 Three, four and five axis transformation (TRAORI)
6.2.6

Orientation axis reference (ORIWKS, ORIMKS)

Function
For orientation programming in the workpiece coordinate system using
• Euler or RPY angle or
• orientation vector
the course of the rotary motion can be set using ORIMKS/ORIWKS.
Note
Machine manufacturer
The type of interpolation for the orientation is specified with machine data:
MD21104 $MC_ORI_IPO_WITH_G_CODE
= FALSE: The reference is provided by the G functions ORIWKS und ORIMKS.
= TRUE: The reference is provided by the G functions in the 51st group (ORIAXES,
ORIVECT, ORIPLANE, etc.).
Syntax
ORIMKS=...
ORIWKS=...
Significance
ORIMKS
ORIWKS
Note
ORIWKS is the basic setting. In the case of a 5-axis program, if it is not immediately obvious
on which machine it is to run, ORIWKS must always be selected. Which movements the
machine actually executes depend on the machine kinematics.
ORIMKS can be used to program actual machine movements (to avoid collisions with devices
or similar, for example).
Description
With ORIMKS, the movement executed by the tool depends 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.
With ORIWKS, the movement executed by the tool does not depend on the machine
kinematics. With an orientation change with a fixed tool tip, the tool moves in the plane set up
by the start and end vectors.
344
Rotation in the machine coordinate system
Rotation in the workpiece coordinate system
Programming Manual, 02/2011, 6FC5398-2BP40-1BA0
Job planning