Siemens sinumerik 840D sl Function Manual page 29

Programming
The orientation of the tool can be programmed in a block directly by specifying the rotary
axes or indirectly by specifying the Euler angle, RPY angle and direction vector. The
following options are available:
• directly as rotary axes A, B, C
• indirectly for 5-axis transformation:
• Indirectly for 5-axis transformation via direction vector A3, B3, C3
The identifiers for Euler angles and direction vectors can be set in machine data:
Euler angles via:
MD10620 $MN_EULER_ANGLE_NAME_TAB (name of Euler angles)
Direction vector via:
MD10640 $MN_DIR_VECTOR_NAME_TAB (name of direction vectors)
Tool orientation can be located in any block. Above all, it can be programmed alone in a
block, resulting in a change of orientation in relation to the tool tip which is fixed in its
relationship to the workpiece.
Euler or RPY
The following machine data can be used to switch between Euler and RPY angles:
MD21100 $MC_ORIENTATION_IS_EULER (angle definition for orientation programming)
Orientation reference
A tool orientation at the start of a block can be transferred to the block end in two different
ways:
• in the workpiece coordinate system with command ORIWCS
• in the machine coordinate system with command ORIMCS
ORIWCS command
The tool orientation is programmed in the workpiece coordinate system (WCS) and is thus
not dependent on the machine kinematics.
In the case of a change in orientation with the tool tip at a fixed point in space, the tool
moves along a large arc on the plane stretching from the start vector to the end vector.
ORIMCS command
The tool orientation is programmed in the machine coordinate system and is thus dependent
on the machine kinematics.
In the case of a change in orientation of a tool tip at a fixed point in space, linear interpolation
takes place between the rotary axis positions.
The orientation is selected via NC language commands ORIWCS and ORIMCS.
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0
via Euler or RPY angles in degrees via A2, B2, C2
Detailed description
2.1 5-axis transformation
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