Siemens SINUMERIK 840D sl Function Manual page 8

Table of contents
1.9.5 Orientation relative to the path ................................................................................................... 92
1.9.6 Programming of orientation polynominals ................................................................................. 96
1.9.7 Tool orientation with 3-/4-/5-axis transformations ...................................................................... 99
1.9.8 orientation vectors with 6-axis transformation ........................................................................... 99
1.10 Orientation axes....................................................................................................................... 101
1.10.1 JOG mode ............................................................................................................................... 102
1.10.2 Programming for orientation transformation ............................................................................ 103
1.10.3 Programmable offset for orientation axes ................................................................................ 106
1.10.4 Orientation transformation and orientable tool holders ............................................................ 107
1.10.5 Modulo display of orientation axes .......................................................................................... 107
1.11 Orientation vectors................................................................................................................... 109
1.11.1 Polynomial interpolation of orientation vectors ........................................................................ 109
1.11.2 Rotations of orientation vector ................................................................................................. 113
1.11.3 Extended interpolation of orientation axes ............................................................................... 117
1.12 Online tool length offset ........................................................................................................... 122
1.13 Examples ................................................................................................................................. 126
1.13.1 Example of a 5-axis transformation ......................................................................................... 126
1.13.2 Example of a 3-axis and 4-axis transformation ........................................................................ 128
1.13.2.1 Example of a 3-axis transformation ......................................................................................... 128
1.13.2.2 Example of a 4-axis transformation ......................................................................................... 129
1.13.3 Example of a universal milling head ........................................................................................ 129
1.13.4 Example for orientation axes ................................................................................................... 130
1.13.5 Examples for orientation vectors ............................................................................................. 132
1.13.5.1 Example for polynomial interpretation of orientation vectors ................................................... 132
1.13.5.2 Example of rotations of orientation vector ............................................................................... 133
1.13.6 Examples for generic axis transformations .............................................................................. 134
1.13.6.1 Example of a generic 6-axis transformation ............................................................................ 135
1.13.6.2 Example of a generic 7-axis transformation ............................................................................ 136
1.13.6.3 Example for the modification of rotary axis motion .................................................................. 137
1.13.7 Example: Compression of an orientation ................................................................................. 137
1.14 Data lists .................................................................................................................................. 139
1.14.1 Machine data ........................................................................................................................... 139
1.14.1.1 General machine data ............................................................................................................. 139
1.14.1.2 Channel­specific machine data ................................................................................................ 139
1.14.2 Setting data ............................................................................................................................. 143
1.14.2.1 General setting data ................................................................................................................ 143
1.14.2.2 Channel­specific setting data ................................................................................................... 143
1.14.3 Signals ..................................................................................................................................... 143
1.14.3.1 Signals from channel ............................................................................................................... 143
2 G1: Gantry axes ......................................................................................................................................145
2.1 Brief description ....................................................................................................................... 145
2.2 "Gantry axes" function ............................................................................................................. 146
2.3 Referencing and synchronization of gantry axes..................................................................... 151
2.3.1 Introduction .............................................................................................................................. 151
2.3.2 Automatic synchronization ....................................................................................................... 157
2.3.3 Points to note ........................................................................................................................... 158
2.4 Start-up of gantry axes ............................................................................................................ 161
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Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions