Rotations Of Orientation Vector - Siemens SINUMERIK 840D sl Function Manual

Constraints
Polynomial interpolation of orientation vectors is only possible for control variants in which the
following functions are included in the functional scope:
• Orientation transformation
• Polynomial interpolation
1.11.2

Rotations of orientation vector

Functionality
Changes in tool orientation are programmed by specifying an orientation vector in each block,
which is to be reached at the end of the block. The end orientation of each block can be
programmed in the following way:
1. programming the vector directly, or
2. programming the rotary axis positions.
The second option depends on machine kinematics. Interpolation of the orientation vector
between the start and end values can also be modified by programming polynomials.
Programming of orientation directions
The following options are available for programming tool orientation:
1. Direct programming of rotary axis positions (the orientation vector is derived from machine
kinematics).
2. Programming in Euler angles via A2, B2, C2 (angle C2 is irrelevant).
3. Programming in RPY angles via A2, B2, C2.
4. Programming the direction vector via A3, B3, C3 (the length of the vector is irrelevant).
Switching between Euler and RPY angle programming can be selected via the following
machine data or via the G-codes ORIEULER and ORIRPY :
MD21100 $MC_ORIENTATION_IS_EULER (angle definition for orientation programming)
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
F2: Multi-axis transformations
1.11 Orientation vectors
113