Siemens sinumerik 840d Programming Manual page 224

Transformations
7
7.1 Three, four and five-axes transformation: TRAORI
840D
NCU 572
NCU 573
Programming
G1 X Y Z A B C
G1 X Y Z A2= B2= C2=
G1 X Y Z A3= B3= C3=
G1 X Y Z A4= B4= C4=
G1 X Y Z A5= B5= C5=
LEAD
TILT
Machine data can be used to switch between Euler
and RPY angles.
Programming in Euler angles
The values programmed for the orientation with A2,
B2, C2 are interpreted as Euler angles (in degrees).
The orientation vector is produced by rotating a
vector in the Z direction first with A2 around the Z
axis, then with B2 around the new X axis and finally
with C2 around the new Z axis.
In this case, the value of C2 (rotation around new Z
axis) is irrelevant and does not need to be
programmed.
7-224
840Di
Programming of the movement of the rotary axes
Programming in Euler angles
Programming of the direction vector
Programming the surface normal vector at block start
Programming the surface normal vector at block end
Lead angle for programming of the tool orientation
Side angle for programming of the tool orientation
SINUMERIK 840D/840Di/810D/FM-NC Programming Guide Advanced (PGA) − 04.00 Edition
Z
Z
Y
X
Y
With A2 = 90°
rotating around
the Z axis
X
Basic setting
Z
Z
Y
B2
Y
X
 Siemens AG 2000. All rights reserved
08.97
7
Z
Z
Y X
Y
X
X
With B2 = 45°
rotating around
rotating X axis
Y