Siemens sinumerik 840D sl Function Manual page 71

Previous function
The compressor is only active for linear blocks (G1). It is interrupted by any other type of NC
instruction, e.g., an auxiliary function output, but not by parameter calculations. The blocks to
be compressed can only contain the following elements:
• Block number,
• G1,
• Axis addresses,
• Feed,
• Comment.
N... G1 X... Y... Z... A... B... F...
Functions (SW 6,3 and higher)
The position values do not have to be programmed directly, but can be specified via
parameter assignments. The general format is:
N... G1 X=<...> Y=<...> Z=<...> A=<...> B=<...> F=<...> ; comment
<...> can contain any parameter expression, e.g. X=R1*(R2+R3).
Programming options
The tool orientation can be programmed in the following (kinematic-independent) ways for 5-
axis machines if an orientation transformation (TRAORI) is active:
1. Programming of the direction vectors via:
2. Programming of the Eulerangles or RPY-angles via:
Compression with large circle interpolation
The orientation motion is only compressed when large circle interpolation is active, i.e. tool
orientation is changed in the plane which is determined by start and end orientation.
Large circle interpolation is performed under the following conditions:
1. For the following machine data, if ORIWKS is active and the orientation is programmed
2. For the following machine data, if ORIVECT or ORIPLANE is active:
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0
A3=<...> B3=<...> C3=<...>
A2=<...> B2=<...> C2=<...>
as a vector (with A3, B3, C3 or A2, B2, C2):
MD21104 $MC_ORI_IPO_WITH_G_CODE = 0 (G-code for orientation interpolation)
MD21104 $MC_ORI_IPO_WITH_G_CODE = 1
The tool orientation can be programmed either as a direction vector or with rotary axis
positions. If one of the G-codes ORICONxx or ORICURVE is active, or if polynomials for
the oreintation angles (PO[PHI] and PO[PSI]) are programmed, no large circle
interpolation will be executed.
; Comment
Detailed description
2.8 Orientation
65