Siemens sinumerik 840D sl Function Manual page 86

Detailed description
2.9 Orientation axes
Note
The four variants of orientation programming are mutually exclusive. If mixed values are
programmed, alarm 14130 or alarm 14131 is generated.
Exception:
For 6-axis kinematics with a 3rd degree of freedom for orientation, C2 may also be
programmed for variants 3 and 4. C2 in this case describes the rotation of the orientation
vector about its own axis.
Example
For an example of orientation axes for kinematics with 6 or 5 transformed axes, please see
Chapter "Example of Orientation Axes".
Interpolation type
The following machine data is used to specify which interpolation type is used:
MD21104 $MC_ORI_IPO_WITH_G_CODE (G-code for orientation interpolation):
• ORIMKS or ORIWKS (for description, see Chapter "Workpioece Orientation")
• G-code group 51 with the commands ORIAXES or ORIVECT
Value range
Value range for orientation axes:
• 180 degrees < A2 < 180 degrees
• 90 degrees < B2 < 90 degrees
• 180 degrees < C2 < 180 degrees
All possible rotations can be represented with this value range. Values outside the range are
normalized by the control system to within the range specified above.
Feedrate when programming ORIAXES
Feedrate for an orientation axis can be limited via the FL[ ] instruction (feed limit).
80
– ORIAXES:
Linear interpolation of machine axes or orientation axes.
– ORIVECT:
Orientation is controlled by the orientation vector being swivelled in the plane spanned
by the start and end vectors (large circle interpolation). With 6 transformation axes a
rotation around the orientation vector is excuted in addition to the swivel movement.
With ORIVECT the orientation axes are always traversed on the shortest possible
path.
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0