Siemens SINUMERIK 840D sl Function Manual page 110

Special functions
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F2: Multi-axis transformations
1.11 Orientation vectors
POLYPATH:
In addition to the modal G function POLY, the predefined subprogram POLYPATH(argument)
can be used to activate polynomial interpolation selectively for different axis groups. The
following arguments are allowed for the activation of polynomial interpolation
("AXES"):
("VECT"):
("AXES", "VECT"):
(without argument):
Normally, the polynomial interpolation is activated for all axis groups.
Programming of orientation vectors
An orientation vector can be programmed in each block. If polynomials are programmed for
the orientation, the interpolated orientation vector is generally turned not in the plane between
start and end vector, but it can be rotated at random from this plane.
Orientation vectors can be programmed as follows:
1. Programming of rotary axis positions with A, B and C or with the actual rotary axis
identifiers.
2. Programming in Euler angle or RPY angle via A2, B2, C2.
3. Programming of the direction vector via A3, B3, C3.
4. Programming using lead angle LEAD and tilt angle TILT
Selection of type of interpolation
The type of interpolation of orientation axes is selected with G-code of group 51 and is
independent of the programming type of the end vector:
ORIAXES: Linear interpolation of the machine axes or using polynomials for active POLY
or
ORIVECT: Interpolation of the orientation vector using large circle interpolation
If ORIAXES is active, the interpolation of the rotary axis can also take place using
polynomials like polynomial interpolation of axes with POLY .
On the other hand, if ORIVECT is active, "normal" large circle interpolation is carried out
through linear interpolation of the angle of the orientation vector in the plane that is defined by
the start and end vector.
Polynomials for 2 angles
Additional programming of polynomials for 2 angles that span the start vector and end vector
can also be programmed as complex changes in orientation with ORIVECT .
110
For all path axes and supplementary axes
For orientation axes
For path axes, supplementary axes and orientation axes
deactivates polynomial interpolation for all axis groups
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions

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