Siemens sinumerik 840D sl Function Manual page 90

Detailed description
2.10 Orientation vectors
("AXES"):
("VECT"):
("AXES", "VECT"):
(without argument):
Polynomial interpolation is activated for all axis groups by default.
Programming of orientation vectors
An orientation vector can be programmed in each block. If polynomials are programmed for
the orientation, the orientation vector is usually no longer located in the plane between the
start and end vectors, but can be rotated out of this plane.
Orientation vectors can be programmed as follows:
1. Programming of rotary axis positions with A, B and C or with the actual rotary axis
2. Programming in Euler angle or RPY angle via A2, B2, C2.
3. Programming of the direction vector via A3, B3, C3.
4. Programming using lead angle LEAD and tilt angle TILT
Selection of type of interpolation
The type of interpolation of orientation axes is selected with G-code fo group51 and is
independent of the programming type of the end vector:
• ORIAXES: Linear interpolation of the machine axes or using polynomials for active POLY
• ORIVECT: Interpolation of the orientation vector using large circle interpolation
If ORIAXES is active, the interpolation of the rotary axis can also take place using
polynomials like polynomial interpolation of axes with POLY.
On the other hand, if ORIVECT is active, "normal" large circle interpolation is carried out
through linear interpolation of the angle of the orientation vector in the plane that is defined
by the start and end vector.
Polynomials for 2 angles
Additional programming of polynomials for 2 angles that span the start vector and end vector
can also be programmed as complex changes in orientation with ORIVECT.
The two PHI and PSI angles are specified in degrees.
POLY
POLYPATH ( )
The coefficients a
PO[PHI]=(a
a )
5
84
identifiers.
or
Activation of polynomial interpolation for all axis groups.
Activation of polynomial interpolation for all axis groups. "AXES" and
"VECT" are possible groups.
and b
n n
, a , a , The angle PHI is interpolated according to PHI(u) = a
2 3 4
+ a
For all path axes and supplementary axes
For orientation axes
For path axes, supplementary axes and orientation axes
deactivates polynomial interpolation for all axis groups
are specified in degrees.
*u + a *u + a *u .
3 4 5
3 4 5
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0
+ a *u + a *u
2
0 1 2