Example For Orientation Axes - Siemens SINUMERIK 840D sl Function Manual

F2: Multi-axis transformations
1.13 Examples
Program
; Definition of tool T1
$TC_DP1[1,1] = 120;
$TC_DP2[1,1] = 0;
$TC_DP3[1,1] = 20;
$TC_DP4[1,1] = 8.;
$TC_DP5[1,1] = 5.;
TRAORI(1);
ORIMKS;
G0 X1 Y0 Z0 A0 B0 F20000 G90 G64 T1 D1 G17
; Programming of direction vector
G1 G90
a3 = 0 b3 = 1 c3 = 0
; Programming in Euler angles
G1 G90
a2 = 0 b2 = 0 X0
; Programming of rotary axis motion
G1 X10 Y5 Z20 A90 C90
m30
References:/PA/, "Programming Manual Fundamentals"
1.13.4

Example for orientation axes

Example 1:
3 orientation axes for the 1st orientation transformation for kinematics with 6 transformed
axes. Rotation must be done in the following sequence:
• firstly about the Z axis.
• then about the Y axis and
• finally about the Z axis again.
The tool vector must point in the X direction.
CHANDATA(1)
$MC_TRAFO5_TOOL_VECTOR_1=0
$MC_TRAFO5_ORIAX_ASSIGN_TAB_1[0]=4
130
Type
Z length offset vector G17
Y
X
Activation of transformation
Orientation reference to MCS
; Tool vector in X direction
; Channel index of first orientation
axis
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions