Siemens sinumerik 840D sl Function Manual page 92

Detailed description
2.10 Orientation vectors
Figure 2-17
The angle PSI can be used to generate movements of the orientation vector perpendicular to
large circle interpolation plane (see previous figure)
Maximum polynomials of the 5th degree permitted
5th Degree polynomials are the maximum possible for programming the angles PHI and PSI.
The constant and linear coefficient is defined by the start value and end value of the
orientation vector in each case.
Higher degree coefficients can be omitted from the coefficient list (..., ....) if these are all
equal to zero.
The length of the parameter interval in which the polynomials are defined can also be
programmed with PL.
Points to note
If no polynomial for angle PSI is programmed, the orientation vector is always interpolated in
the plane defined by the start and end vector.
The PHI angle in this plane is interpolated according to the programmed polynomial for PHI.
As a result the orientation vector moves through a "normal" large circle interpolation in the
plane between the start and end vector and the movement is more or less irregular
depending on the programmed polynomial.
In this way, the velocity and acceleration curve of the orientation axes can be influenced
within a block, for example.
Note
Further information on polynomial interpolation for axis motion and general programming is
given in:
References: /PGA/ Programming Manual, Work Preparation
86
Movement of the orientation vector in plan view
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0