Definition Of Terms; Units And Directions; Definition Of Positions And Orientations Using Frames - Siemens SINUMERIK 840D sl Function Manual

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Definition of terms

Lengths and angles

In the transformation machine data, all lengths are specified in millimeters or inches and,

unless otherwise stated, all angles in degrees at intervals of [ -180°, 180° ].

Direction of rotation

In the case of angles, arrows in the drawings always indicate the mathematically positive

direction of rotation.

In order to make a clear distinction from the term "frame" as it is used in the NC language, the

following description explains the meaning of the term "frame" in relation to the handling

transformation package.

A frame can be used to translate one coordinate system into another. In this respect, a

distinction must be made between translation and rotation. Translation only effects an offset

between the coordinate system and the reference system, while rotation actually rotates the

coordinate system in relation to the reference. Coordinates X, Y and Z are used to describe

the translation. They are defined so as to result in a legal coordinate system.

The translation is always specified in relation to the coordinate directions of the initial system.

These directions are assigned to machine data as follows:

X direction: ..._POS[0]

Y direction: ..._POS[1]

Z direction: ..._POS[2]

The rotation is described by the RPY angles A, B and C (RPY stands for Roll Pitch Yaw). The

positive direction of rotation is defined by the right hand rule, i.e. if the thumb on the right hand

is pointing in the direction of the axis of rotation, then the fingers are pointing in the positive

angular direction. In this respect, it must be noted that A and C are defined at intervals [-180;

+180] and B at intervals [-90; +90].

Special Functions

Function Manual, 09/2011, 6FC5397-2BP40-2BA0

TE4: Transformation package handling

13.3 Definition of terms

Sinumerik 840de sl