Siemens Sinumerik 840D sl Programming Manual page 353

Parameters
ORICURVE
XH YH ZH
Possible polynomials
PO[XH]=(xe, x2, x3, x4,
x5) PO[YH]=(ye, y2, y3,
y4, y5) PO[ZH]=(ze, z2,
z3, z4, z5)
xe, ye, ze
xi, yi, zi
Note
Identifiers XH YH ZH for programming a second orientation path
The identifiers must be selected such that no conflict arises with the other identifiers or linear
axes
X Y Z axes
and rotary axes such as
A2 B2 C2 Euler angle or RPY angle
A3 B3 C3 direction vectors
A4 B4 C4 or A5 B5 C5 surface normal vectors
A6 B6 C6 rotation vectors or A7 B7 C7 intermediate point coordinates
or other interpolation parameters.
Job planning
Programming Manual, 02/2011, 6FC5398-2BP40-1BA0
6.2 Three, four and five axis transformation (TRAORI)
Interpolation of the orientation specifying a movement
between two contact points of the tool
Identifiers of the coordinates of the second contact
point of the tool of the additional contour as a curve in
space
Apart from using the appropriate end points, the curves
in space can also be programmed using polynomials.
End points of the curve in space
Coefficients of the polynomials up to the 5th degree
Transformations
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