Siemens sinumerik 840D sl Function Manual page 120

Examples
4.6 Example of generic 5-axis transformation
N150
N160
N170
N180
N200
N210
N220
N230
N240
4.6.2 Example for the modification of rotary axis motion
The machine is a 5-axis machine of machine type 1 (two-axis swivel head with CA
kinematics) on which both rotary axes rotate the tool (transformation type 24). The first rotary
axis is a modulo axis parallel to Z (C axis); the second rotary axis is parallel to Y (B axis) and
has a traversing range from -5 degrees to +185 degrees.
To allow modification at any time, the following machine data has the value 2:
MD21180 $MC_ROT_AX_SWL_CHECK_MODE (check software limits for orientation axes)
N10 X0 Y0 Z0 B0 C0
N20 TRAORI( )
N30 B-1 C10
N40 A3=-1 C3=1 ORIWKS
N50 M30
At the start of block N40 in the example program, the machine is positioned at rotary axis
positions B-1 C10. The programmed end orientation can be achieved with either of the axis
positions B-45 C0 (1st solution) or B45 C180 (2nd solution).
The first solution is selected initially, because it is nearest to the starting orientation and,
unlike the second solution, can be achieved using large circle interpolation (ORIWKS).
However, this position cannot be reached because of the axis limits of the B axis.
The second solution is therefore used instead, i.e. the end position is B45 C180. The end
orientation is achieved by axis interpolation. The programmed orientation path cannot be
followed.
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$TC_DPV5[2,2]= 0.5
$TC_DPVN3[2,2]= 0
$TC_DPVN4[2,2]= 1
$TC_DPVN5[2,2]= 0
TRAORI()
A3=5 C3=10 BN3=1
C3=1
THETA=IC(90)
M30
; Z component tool cutting edge orientation
: X component orientation normal vector
; Y component orientation normal vector
; Z component orientation normal vector
; pass on basic orientation
; Get rotary axes in initial state
; Orientation in Z direction → tool
; rotates 26.565 degrees
; Rotate orientation normal vector
; incrementally by 90 degrees
;. Vector points in negative
; X direction
; basic orientation 5-axis transformation
; Rotary axis positions B-1 and C10
; large circle interpolation in WCS
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0