Siemens SINUMERIK 840D sl Programming Manual page 396

Transformations
6.5 Orientations relative to the path
The values of the angles at the end of block are programmed using LEAD=value,
TILT=value or THETA=value. In addition to the constant angles, polynomials can be
programmed for all three angles up to the 5th degree.
N... PO[PHI]=(a2, a3, a4, a5)
N... PO[PSI]=(b2, b3, b4, b5)
N... PO[THT]=(d2, d3, d4, d5)
The higher polynomial coefficients, which are zero, can be omitted when programming.
Example: PO[PHI]=a2 results in a parabola for the LEAD angle.
Significance
Tool orientation relative to the path
ORIPATH
ORIPATHS
LEAD
TILT
THETA
PO[PHI]
PO[PSI]
PO[THT]
Note
Angle of rotation THETA
A 6-axis transformation is required to rotate a tool with a third rotary axis that acts as an
orientation axis about itself.
396
Tool orientation in relation to path
Tool orientation relative to the path; blip in orientation characteristic is
smoothed
Angle relative to the surface normal vector in the plane that is defined by the
path tangent and the surface normal vector
Rotation of orientation in the Z direction or rotation about the path tangent
Rotation about the tool direction toward Z
Orientation polynomial for the LEAD angle
Orientation polynomial for the TILT angle
Orientation polynomial for the THETA angle of rotation
Polynomial for the leading angle LEAD
Polynomial for the tilt angle TILT
Polynomial for the angle of rotation
THETA
Programming Manual, 06/2009, 6FC5398-2BP20-0BA0
Job Planning