Siemens sinumerik 840D sl Function Manual page 94

Detailed description
2.10 Orientation vectors
Programming of orientation direction and rotation
While the direction of rotation is already defined when you program the orientation with RPY
angles, additional parameters are needed to specify the direction of rotation for the other
orientations:
1. Direct programming of the rotary axes
2. Programming in Euler angles via A2, B2, C2
3. Programming in RPY angles via A2, B2, C2
4. Programming of the direction vector via A3, B3, C3
Note
The following cases do not allow for a programmed rotation:
Multiple programming of the direction of rotation is not allowed and results in an alarm. If
the Euler angle C2 and the angle of rotation THETA are programmed simultaneously, the
programmed rotation is not executed.
If machine kinematics are such that the tool cannot be rotated, any programmed rotation
is ignored. This is the case with a normal 5-axis machine, for example.
Rotation of the orientation vector
The following options are available for interpolating rotation of the orientation vector by
programming the vector directly:
• Linear interpolation, i.e. the angle between the current rotation vector and the start vector
• Non-linear due to additional programming of a polynomial for the angle of rotation
88
A supplementary rotary axis for direction of rotation has to be defined.
Angle C2 must be programmed additionally. The complete orientation is thus defined,
including tool rotation.
Additional settings are not required.
The rotation angle is programmed with THETA=<value>.
is a linear function of the path parameter.
degree maximum, in the format:
d d d d
PO[THT] = ( , , ,
2 3 4
)
5
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0
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of 5th