Siemens SINUMERIK 840D sl Function Manual page 98

F2: Multi-axis transformations
1.9 Orientation
Rotations of rotation vectors with ORIROTC
The rotation vector is interpolated relative to the path tangent with an offset that can be
programmed using the THETA angle.
A polynomial up to the 5th degree can also be programmed with PO[THT]=(c2, c3, c4, c5) for
the offset angle.
Note
If ORIAXES is active, i.e. the tool orientation is interpolated via axis interpolation, the
orientation of the rotation vector relative to the path is only fulfilled at the end of the block.
For further information about programming, please see:
References: /PGA/ Programming Manual, Work Preparation, Transformations, Interpolation
Type (ORIPATH, ORIPATHS)
Boundary conditions
It is only useful to program orientation polynomials for specific interpolation types, which
affect both contour and orientation. A number of boundary conditions must be met to avoid
illegal programming settings:
Orientation polynomials cannot be programmed,
• if ASPLINE, BSPLINE, CSPLINE spline interpolations are active.
Polynomials for type 1 orientation anglesare possible for every type of interpolation except
spline interpolation, i.e.linear interpolation with rapid traverse G00 or with feedrate G01
and polynomial POLY and circular/involute interpolation G02, G03, CIP, CT, INVCW and
INVCCW.
In contrast, type 2 orientation polynomials are only possible iflinear interpolation with rapid
traverse G00 or with feedrate G01 or polynomial interpolation POLY is active.
• if the orientation is interpolated using ORIAXES axis interpolation.
In this case, polynomials can be programmed directly with PO[A] and PO[B] for orientation
axes A and B.
If ORICURVE is active, the Cartesian components of the orientation vector are interpolated
and only type 2 orientation polynomials are possible. However, type 1 orientation
polynomials are not permitted.
Only type 1 orientation polynomials are possible for large circle interpolation and taper
interpolation with ORIVECT, ORIPLANE, ORICONxxx. However, type 2 orientation
polynomials are not permitted.
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Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions