Siemens SINUMERIK 840D sl Function Manual page 104

F2: Multi-axis transformations
1.10 Orientation axes
•
ORIVIRT2:
Orientation programming on the basis of virtual orientation axes (definition 2)
The type of interpolation is distinguished on the basis of G-group 51:
•
ORIAXES:
Orientation programming of linear interpolation of orientation axes or machine axes
•
ORIVECT:
Orientation programming of large circle interpolation of orientation axes (interpolation of
the orientation vector)
Machine data MD21102 $MC_ORI_DEF_WITH_G_CODE (definition of ORI axes via G-code)
is used to specify whether MD21100 $MC_ORIENTATION_IS_EULER (angle definition for
orientation programming) is active (default) or G-group 50.
The following four variants are available for programming orientation:
1. A, B, C:
Machine axis parameter designation
2. A2, B2, C2:
Angle programming of virtual axes
3. A3, B3, C3:
Vector component designation
4. LEAD, TILT:
Specification of lead and side angles with reference to path and surface
References: /PG/, Programming Manual Basics
Note
The four variants of orientation programming are mutually exclusive. If mixed values are
programmed, alarm 14130 or alarm 14131 is generated.
Exception:
For 6-axis kinematics with a 3rd degree of freedom for orientation, C2 may also be
programmed for variants 3 and 4. C2 in this case describes the rotation of the orientation
vector about its own axis.
Example
For an example of orientation axes for kinematics with 6 or 5 transformed axes, please see
Chapter "Example of Orientation Axes".
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Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions