Siemens SINUMERIK 840D sl Programming Manual page 252

Transformations
7.2 Three, four and five axis transformation (TRAORI)
Note
Variants of orientation programming for three- to five-axis transformation
In respect of three- to five-axis transformation, the following variants:
1. A, B, C direct entry of machine axis positions
2. A2, B2, C2 angular programming of virtual axes using Euler angle or RPY angle
3. A3 ,B3, C3 entry of vector components
4. LEAD, TILT entry of lead and tilt angles relative to the path and surface
5. A4, B4, C4 and A5, B5, C5 surface normal vector at start of block and end of block
6. A6, B6, C6 and A7, B7, C7 interpolation of orientation vector on a peripheral surface of a
taper
7. A8, B8, C8 reorientation of tool, direction and path length of retracting movement
are mutually exclusive.
If an attempt is made to program mixed values, alarm messages are output.
Initial tool orientation setting ORIRESET
By programming ORIRESET (A, B, C), the orientation axes are moved in linear and
synchronous motion from their current position to the specified initial setting position.
If an initial setting position is not programmed for an axis, a defined position from the
associated machine data $MC_TRAFO5_ROT_AX_OFFSET_1/2 is used. Any active frames
of round axles which may be present are ignored.
Note
Only if an orientation transformation is active with TRAORI(...), can an initial setting for the
tool orientation regardless of kinematics be programmed without alarm 14101 using
ORIRESET(...).
Examples
1. Example of machine kinematics CA (channel axis names C, A)
ORIRESET(90, 45)
ORIRESET(, 30)
ORIRESET( )
2. Example of machine kinematics CAC (channel axis names C, A, B)
ORIRESET(90, 45, 90)
ORIRESET( )
7-14
;C at 90 degrees, A at 45 degrees
;C at $MC_TRAFO5_ROT_AX_OFFSET_1/2[0], A at 30 degrees
;C at $MC_TRAFO5_ROT_AX_OFFSET_1/2[0],
;A at $MC_TRAFO5_ROT_AX_OFFSET_1/2[1]
;C at 90 degrees, A at 45 degrees, B at 90 degrees
;C at $MC_TRAFO5_ROT_AX_OFFSET_1/2[0],
;A at $MC_TRAFO5_ROT_AX_OFFSET_1/2[1],
;B at $MC_TRAFO5_ROT_AX_OFFSET_1/2[2]
Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
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