Siemens SINUMERIK 840D sl Programming Manual page 375

Description
With ORIMKS, the movement executed by the tool depends on the machine kinematics. In
the case of a change in orientation of a tool tip at a fixed point in space, linear interpolation
takes place between the rotary axis positions.
With ORIWKS, the movement executed by the tool does not depend on the machine
kinematics. With an orientation change with a fixed tool tip, the tool moves in the plane set
up by the start and end vectors.
Singular positions
Note
ORIWKS
Orientation movements in the singular setting area of the 5-axis machine require vast
movements of the machine axes. (For example, with a rotary swivel head with C as the
rotary axis and A as the swivel axis, all positions with A = 0 are singular.)
Job Planning
Programming Manual, 06/2009, 6FC5398-2BP20-0BA0
6.2 Three, four and five axis transformation (TRAORI)
Transformations
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