Siemens SINUMERIK 840D sl Programming Manual page 388

Transformations
6.3 Orientation polynomials (PO[angle], PO[coordinate])
In both cases, with 6-axis transformations, a polynomial can also be programmed for the
rotation using
N... PO[THT]=(c2, c3, c4, c5)
or
N... PO[THT]=(d2, d3, d4, d5)
of the orientation vector. This is possible if the transformation supports a rotation vector with
an offset that can be programmed and interpolated using the THETA angle of rotation.
Meaning
PO[PHI]
PO[PSI]
PO[THT]
PHI
PSI
THETA
PO[XH]
PO[YH]
PO[ZH]
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Angle in the plane between start and end orientation
Angle describing the tilt of the orientation from the plane between start and end
orientation
Angle of rotation created by rotating the rotation vector of one of the G codes
of group 54 that is programmed using THETA
Lead angle LEAD
Tilt angle TILT
Rotation about the tool direction in Z
X coordinate of the reference point on the tool
Y coordinate of the reference point on the tool
Z coordinate of the reference point on the tool
Interpolation of the rotation relative to the
path
Interpolation absolute, relative and
tangential to the change of orientation
Programming Manual, 06/2009, 6FC5398-2BP20-0BA0
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