Siemens SINUMERIK 840D sl Function Manual page 479

Translation in the TCS
The tool coordinate system (TCS) lies in the tool tip. Its direction depends on the current setting
of the machine, since the tool coordinate system moves during the motion.
Figure 7-18
Translation and orientation in the TCS simultaneously
If translation and orientation movements are executed at the same time, the translation is
always traversed corresponding to the current orientation of the tool. This permits infeed
movements that are made directly in the tool direction or movements that run perpendicular
to tool direction.
Orientation
The tool can be aligned to the component surface via an orientation movement. The orientation
movement is given control from the PLC via the VDI signals of the orientation axes (DB21, ...
DBB321).
Several orientation axes can be traversed simultaneously. The virtual orientation axes execute
rotations around the fixed axes of the relevant reference system.
The rotations are identified according to the RPY angles.
● A angle: Rotation around the Z axis
● B angle: Rotation around the Y axis
● C angle: Rotation around the X axis
Programming rotations:
The user can define how rotations are to be executed using the current G codes of group 50
for orientation definition
Specifying ORIEULER, ORIRPY, ORIVIRT1 and ORIVIRT2.
Extended Functions
Function Manual, 10/2015, 6FC5397-1BP40-5BA3
Cartesian manual travel in the tool coordinate system (translation)
M1: Kinematic transformation
7.7 Cartesian manual travel (optional)
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