Examples For Orientation Vectors; Example For Polynomial Interpretation Of Orientation Vectors - Siemens SINUMERIK 840D sl Function Manual

F2: Multi-axis transformations
1.13 Examples
$MC_ORIAX_TURN_TAB_1[0]=1
$MC_ORIAX_TURN_TAB_1[1]=2
$MC_ORIAX_TURN_TAB_1[2]=3
CHANDATA(1)
M17
Figure 1-25
The rotation through angle C2 about the Z" axis is omitted in this case, because the tool
vector orientation can be determined solely from angles A2 and B2 and no further degree of
freedom is available on the machine.
References: /PGA/ Programming Manual Work Preparation
1.13.5

Examples for orientation vectors

1.13.5.1

Example for polynomial interpretation of orientation vectors

Orientation vector in Z-X plane
The orientation vector is programmed directly in the examples below. The resulting
movements of the rotary axes depend on the particular kinematics of the machine.
N10 TRAORI
N20 POLY
N30 A3=0 B3=0 C3=1
N40 A3=1 B3=0 C3=0
132
3 orientation axes for the 2nd orientation transformation for kinematics with 5 transformed
axes
; X direction
; Y direction
; Z direction
; Polynomial interpolation is possible.
; Tool vector in +Z direction (start
vector)
; Orientation in +X direction (end
vector)
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions