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

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Transformations

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

Compression of the orientation (COMPON, COMPCURV,

NC programs, in which orientation transformation (

programmed (no matter what type), can be compressed if kept within specified limits.

Tool orientation

If orientation transformation (

programmed in the following way (independent of the kinematics):

● Programming of the direction vectors via:

● Programming of the Eulerangles or RPY-angles via:

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:

See "Rotation of tool orientation (Page 333)".

NC blocks in which additional rotation is programmed, can only be compressed if the angle

of rotation changes linearly, meaning that a polynomial with

rotation should not be programmed.

General structure of an NC block that can be compressed

The general structure of an NC block that can be compressed can therefore look like this:

The position values can be entered directly (e.g. X90) or indirectly via parameter settings

(e.g. X=R1*(R2+R3)).

) is active, for 5-axis machines, tool orientation can be

) is active and tool orientations are

PO[THT]=(...)

Programming Manual, 03/2013, 6FC5398-2BP40-3BA1

for the angle of

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