Siemens SINUMERIK 840D sl Function Manual page 95

Smoothing of the orientation jump ORIPATHS
Smoothing of the oreintation jump is done within the setting data SD42670
$SC_ORIPATH_SMOOTH_DIST (path distance to smoothing orientation) of the specified
path. The programmed reference of the orientation to the path tangent and normal vector is
then no longer maintained within this distance. If this distance is set too small, the path
velocity may have to be reduced significantly.
A velocity jump of the orientation axes can also be smoothed. In the case where the
orientation path does not perform a jump, but whose first derivation is not smooth, the
resulting velocity jump can be smoothed. The setting data SD42672
$SC_ORIPATH_SMOOTH_TOL > 0 (tolerance for smoothing the orientation) is used to
specify how much the orientation may deviate from the "tangential" alignment. This
orientation smoothing is only performed if G code ORIPATHS ORIPATHS is active and
setting data SD42672 SC_ORIPATH_SMOOTH_TOL > 0.
Insertion of intermediate blocks for the smoothing of the orientation path
If the following setting data is set, a separate intermediate block is inserted for the smoothing
of the orientation path:
SD42670 $SC_ORIPATH_SMOOTH_DIST = 0.0 (path distance for smoothing the
orientation)
This means that the path motion then stops at the corner of the contour and only then the
jump in the tool orientation is executed. The orientation change is then only performed with
with continuous acceleration when ORIPATHS is active. Otherwise the orientation is
transferred from the start orientation to the end orientation by means of linear large circle
interpolation.
Execute tool retracting movement
A tool retracting movement can be performed during this re-orientation. The direction and
path length of the retracting movement is programmed via the vector using the components
A8=x, B8=y and C8=z. If the length of this vector is exactly zero, no retracting movement is
executed.
In which coordinate system the tool retracting vector is interpreted, depends on the value of
the following machine data:
MD21094 $MC_ORIPATH_MODE (setting for path relative orientation ORIPATH)
This specifies in which coordinate system the retracting vector is interpreted.
1. Tool coordinate system: z coordinate defined by current tool direction.
2. Workpiece coordinate system: z coordinate defined by active plane.
Normally the retracting movement is performed simultaneously to the orientation change. A
factor can be programmed with the identifier ORIPLF = r , which defines a "safety clearance".
In this way, tool orientation only changes when the tool has retracted by r * retraction path.
The programmed retraction factor must be in the interval 0 = r 1, in order to avoid
alarm14126.
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
F2: Multi-axis transformations
1.9 Orientation
95