Compression Of The Orientation (Compon, Compcurv, Compcad) - Siemens Sinumerik 840D sl Programming Manual

Transformations

6.6 Compression of the orientation (COMPON, COMPCURV, COMPCAD)

6.6 Compression of the orientation (COMPON, COMPCURV, COMPCAD)
Function
NC programs, in which orientation transformation (TRAORI) is active and tool orientations are
programmed (no matter what type), can be compressed if kept within specified limits.
Programming
Tool orientation
If orientation transformation (TRAORI) is active, for 5-axis machines, tool orientation can be
programmed in the following way (independent of the kinematics):
• Programming of the direction vectors via:
A3=<...> B3=<...> C3=<...>
• Programming of the Eulerangles or RPY-angles via:
A2=<...> B2=<...> C2=<...>
Rotation of the tool
For 6-axis machines you can program the tool rotation in addition to the tool orientation.
The angle of rotation is programmed with:
THETA=<...>
See " Rotations of the tool orientation (ORIROTA, ORIROTR, ORIROTT, ORIROTC, THETA)
[Page 356] ".
Note
NC blocks in which additional rotation is programmed, can only be compressed if the angle of
rotation changes linearly, meaning that a polynomial with PO[THT]=(...) for the angle of
rotation should not be programmed.
General structure of an NC block that be compressed
The general structure of an NC block that can be compressed can therefore look like this:
N... X=<...> Y=<...> Z=<...> A3=<...> B3=<...> C3=<...> THETA=<...> F=<...>
or
N... X=<...> Y=<...> Z=<...> A2=<...> B2=<...> C2=<...> THETA=<...> F=<...>
Note
The position values can be entered directly (e.g. X90) or indirectly via parameter settings
(e.g. X=R1*(R2+R3)).
366
Programming Manual, 02/2011, 6FC5398-2BP40-1BA0
Job planning