Siemens SINUMERIK 840D Manual page 52

3.5
Programming
in RPY angles
52
Key functions for 5-axis machining
ORIEULER/ORIRPY (A2 = B2= C2=)
Explanation of the commands
ORIEULER
ORIRPY
G1 X Y Z A2= B2= C2=
1
2
3
With C2=90°:
rotated around
Z axis;
with B2=45°:
rotated around
With
A2=30°: rotated
around
© Siemens AG All rights reserved. SINUMERIK, Manual, 5-axis machining
Orientation programming on the basis of Euler angles (default)
Orientation programming on the basis of RPY angles
Programming on the basis of Euler or RPY (Roll Pitch Yaw)
angles, or G codes. Interpretation is defined by means of machine
data.
Programming in Euler or RPY angles using A2, B2, C2, or pro-
gramming of the direction vector. The direction vector points from
the tool tip toward the tool holder.
The values programmed with A2, B2, and C2
during orientation programming are inter-
preted as RPY angles (in degrees).
Starting from the normal
The orientation vector is obtained by first rotat-
ing a vector in the Z direction around the Z
axis with C2
new Y axis with B2,
around the new X axis with A2 (Z, Y', X'').
In contrast to Euler angle programming, in this
case all three values have an impact on the
orientation vector.
Example:
N020 TRAORI
N030 G54
N040 G1 X0 Y0 Z0 F10000
N050 A2=0 B2=0 C2=0
N060 A2=30 B2=45 C2=90
N070 ...
...
position:
1
, then rotating it around the
2
and finally rotating it
3