Siemens SINUMERIK 840D sl Function Manual page 116

F2: Multi-axis transformations
1.11 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.
The other programming options must be excluded in this case, since the definition of an
absolute direction of rotation conflicts with the interpretation of the angle of rotation in these
cases. Possible programming combinations are monitored and an alarm is output if
applicable.
A rotation can also be programmed in a separate block without an orientation change taking
place. In this case ORIROTR and ORIROTT are irrelevant. In this case the angle of rotation is
always interpreted with reference to the absolute direction (ORIROTA).
116
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.
q
can be interpreted as absolute (G90 is
e
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions