Orientation Polynomials (Po[Angle], Po[Coordinate]) - Siemens SINUMERIK 828D Programming Manual

Transformations

6.3 Orientation polynomials (PO[angle], PO[coordinate])

6.3 Orientation polynomials (PO[angle], PO[coordinate])
Function
Irrespective of the polynomial interpolation from G-code group 1 that is currently active, two
different types of orientation polynomial can be programmed up to the 5th degree for a 3-axis
to 5-axis transformation.
1. Polynomials for angles: lead angle LEAD, tilt angle TILT
2. Polynomials for coordinates: XH, YH, ZH of the second curve in space for the tool
With a 6-axis transformation, the rotation of rotation vector THT can be programmed with
polynomials up to the 5th degree for rotations of the tool itself, in addition to the tool
orientation.
Syntax
Type 1 orientation polynomials for angles
N... PO[PHI]=(a2, a3, a4, a5)
N... PO[PSI]=(b2, b3, b4, b5)
Type 2 orientation polynomials for coordinates
N... PO[XH]=(xe, x2, x3, x4, x5)
N... PO[YH]=(ye, y2, y3, y4, y5)
N... PO[ZH]=(ze, z2, z3, z4, z5)
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.
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in relation to the plane that is defined by the start and end orientation.
orientation of a reference point on the tool.
3-axis to 5-axis transformation
3-axis to 5-axis transformation
Identifiers for the coordinates of the second
orientation path for tool orientation
Interpolation of the rotation relative to the
path
Interpolation absolute, relative and
tangential to the change of orientation
Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
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