Siemens sinumerik 840D sl Function Manual page 91

PO[PSI]=(b
b )
5
PL
Rotation of the orientation vector
Changes in orientation are possible with ORIVECT independent of the type of end vector
programming. The following situations apply:
Example 1: Components of end vectors are programmed directly.
N... POLY A3=a B3=b C3=c PO[PHI] = (a2, a3, a4, a5) PO[PSI] = (b2, b3, b4, b5)
Example 2: The end vector is determined by the position of the rotary axes.
N... POLY Aa Bb Cc PO[PHI] = (a2, a3, a4, a5) PO[PSI] = (b2, b3, b4, b5)
The angle PHI describes the rotation of the orientation vector in the plane between the start
and end vectors (large circle interpolation, see Figure Rotation of the Orientation Vector in
the Plane between Start and End Vector). The interpolation of the orientation vector is
exactly the same as in example 1.
Figure 2-16
PHI and PSI angle
Programming of polynomials for the two angles PO[PHI] and PO[PSI] is always possible.
Whether the programmed polynomials for PHI and PSI are actually interpolated depends on
the following:
• POLYPATH("VECT") and ORIVECT are active, tehn the polynomials will be
• If POLYPATH("VECT") and ORIVECT are not active, the programmed orientation
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0
, b , b , The angle PHI is interpolated according to PSI(u) = b
2 3 4
+ b
Length of the parameter interval where polynomials are defined. The
interval always starts at 0.
Theoretical value range for PL: 0,0001 ... 99999,9999.
The PL value applies to the block that contains it. PL=1 is applied if
no PL value is programmed.
Rotation of the orientation vector in the plane between start and end vector
interpolated.
vectors are traversed at the end of the block by a "normal" large circle interpolation. This
means that the polynomials for the two angles PHI and PSI are ignored in this case.
*u + b *u + b *u .
3 4 5
3 4 5
Detailed description
2.10 Orientation vectors
+ b *u + b *u
2
0 1 2
85