Siemens SINUMERIK 840D sl Function Manual page 79

Rotations with JOG
With JOG, the rotations around the specified directions of the respective reference system
can be performed with Euler angle or RPY angle.
SD42660 $SC_ORI_JOG_MODE = 1: When jogging, Euler angles are traversed, i.e.:
the first axis rotates around the z direction,
the second axis rotates around the x direction,
the third axis (if present) rotates around the new z direction.
SD42660 $SC_ORI_JOG_MODE = 2: When jogging, RPY angles are traversed with rotation
sequence XYZ, i.e.:
the first axis rotates around the x direction,
the second axis rotates around the y direction,
the third axis (if present) rotates around the new z direction.
SD42660 $SC_ORI_JOG_MODE = 3: When jogging, RPY angles are traversed with rotation
sequence ZYX, i.e.:
the first axis rotates around the z direction,
the second axis rotates around the y direction,
the third axis (if present) rotates around the new x direction.
Rotation sequence of the rotary axes
Rotation sequence of the rotary axes is set via the following setting data:
• SD42660 $SC_ORI_JOG_MODE = 4:
via machine data MD21120 $MC_ORIAX_TURN_TAB_1 (definition of reference axes for
ORI axes)
• SD42660 $SC_ORI_JOG_MODE = 5:
via machine data MD21130 $MC_ORIAX_TURN_TAB_2 (definition of reference axes for
ORI axes)
For further explanations of orientation movements, see Chapters "Orientation" and
"Orientation Axes".
Note
For further information about the programming of rotations please refer to:
References:
Work Preparation Programming Manual; Chapter: "Transformations"
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
F2: Multi-axis transformations
1.7 Generic 5-axis transformation and variants
79