Siemens sinumerik 840D sl Function Manual page 85

2.9.2 Programming for orientation transformation
The values can only be programmed in conjunction with an orientation transformation.
Programming of orientation
Orientation axes are programmed by means of axis identifiers A2, B2 and C2.
Euler and RPY values are distinguished on the basis of G-group 50:
• ORIEULER:
• ORIRPY:
• ORIVIRT1:
• ORIVIRT2:
The type of interpolation is distinguished on the basis of G-group 51:
• ORIAXES:
• ORIVECT:
Machine data MD21102 $MC_ORI_DEF_WITH_G_CODE (definition of ORI axes via G-
code) is used to specify whether MD21100 $MC_ORIENTATION_IS_EULER (angle
definition for orientation programming) is active (default) or G-group 50.
The following four variants are available for programming orientation:
1. A, B, C:
2. A2, B2, C2:
3. A3, B3, C3:
4. LEAD, TILT:
References: /PG/, Programming Manual Basics
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0
Orientation programming on the basis of Euler angles (default)
Orientation programming via RPY angles
Orientation programming on the basis of virtual orientation axes (definition 1)
Orientation programming on the basis of virtual orientation axes (definition 2)
Orientation programming of linear interpolation of orientation axes or machine axes
Orientation programming of large circle interpolation of orientation axes (interpolation of
the orientation vector)
Machine axis parameter designation
Angle programming of virtual axes
Vector component designation
Specification of lead and side angles with reference to path and surface
Detailed description
2.9 Orientation axes
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