Orientation Vectors; Polynomial Interpolation Of Orientation Vectors - Siemens SINUMERIK 840D sl Function Manual

1.11

Orientation vectors

1.11.1

Polynomial interpolation of orientation vectors

Programming of polynomials for axis motions
The rotary axes are normally subjected to linear interpolation in case of orientation changes
with the help of rotary axis interpolation. However, it is also possible to program the
polynomials as usual for the rotary axes. This allows a generally more homogeneous axis
motion to be produced.
Note
Further information about programming polynomial interpolation with POLY and on
interpolation of orientation vectors is given in:
References: /PGA/ Programming Manual, Work Preparation
A block with POLY is used to program polynomial interpolation. Whether the programmed
polynomials are then interpolated as polynomial, depends on whether the G-code POLY is
active or not.
• The G-code ist not active: The programmed axis end points are traversed linearly.
• The G-code is active: The programmed polynomials are interpolated as polynomials.
MD10674
If machine data MD10674 $MN_PO_WITHOUT_POLY = FALSE
(polynomial programming without G-function POLY programmable) it can be specified,
whether the following programming is possible:
• PO[...] or PO(...) is possible only if POLY is active, or
• PO[ ] or PO( ) polynomials are also possible without active G-code POLY.
By default MD 10674 is: PO_WITHOUT_POLY = FALSE set and with MD10674
$MN_PO_WITHOUT_POLY = TRUE the following programming is always possible:
• PO[...] = (...), regardless of whether POLY is active or not.
Orientation polynomials can be programmed in conjunction with different interpolation types
and are described in Chapter "Programming of Orientation Polynomials".
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
F2: Multi-axis transformations
1.11 Orientation vectors
109