Siemens sinumerik 840D sl Function Manual page 96

Detailed description
2.10 Orientation vectors
Activation of rotation
A rotation of the orientation vector is programmed with the identifier THETA. The following
options are available for programming:
THETA=<value>
THETA =
THETA = AC(...)
THETA = IC(...)
PO[THT] = (...)
The angle THETA is programmed in degrees.
Interpolation of the rotation vector is defined by modal G-codes:
ORIROTA
ORIROTR
ORIROTT
ORIROTC
PL
These G-codes define the reference direction of the angle of rotation. The meaning of the
programmed angle of rotation changes accordingly.
Boundary conditions
The angle of rotation or rotation vector can only be programmed in all four modes if the
interpolation type ORIROTA is active.
1. Rotary axis positions
2. Euler angles via A2, B2, C2
3. RPY angles via A2, B2, C2
4. Direction vector via A3, B3, C3
If ORIROTR or ORIROTT is active, the angle of rotation can only be programmed directly
with THETA.
90
This is different to ORIROTR, only if the change in orientation does not take place in one
plane. This is the case if at least one polynomial was programmed for the "tilt angle" PSI
for the orientation. An additional angle of rotation THETA can then be used to interpolate
the rotation vector such that it always produces a specific angle referred to the change in
orientation.
q
e
Programming of an angle of rotation at the end of the block.
q
Programmed angles
e
active) or as relative (G91 is active incremental).
Switch over to absolute dimensions per block
Switch over to incremental dimensions per block
Programming of a polynomial for rotation angle THETA.
Angle of rotation to an absolute direction of rotation
Angle of rotation relative to the plane between the start and end
orientation
Angle of rotation relative to the change of the tangential
rotationvector of the orientation vector to the orientation change
Angle of rotation relative to the change of the tangential
rotationvector of the orientation vector to the path tangent
Length of the parameter interval where polynomials are defined.
The interval always starts at 0. If no PL has been programmed,
PL = 1 will be applied.
can be interpreted as absolute (G90 is
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0