Siemens SINUMERIK 840DE sl Function Manual page 119

Translation in the TCS
The tool coordinate system (TCS) is at the tool center point. Its direction depends on the current
setting of the machine, since the tool coordinate system moves during the motion.
①
②
③
④
Figure 2-21
Translation and orientation simultaneously in the TCS
If translation and orientation movements are executed at the same time, the translation is
always traversed corresponding to the current orientation of the tool. This permits infeed
movements that are made directly in the tool direction or movements that run perpendicular to
tool direction.
Orientation
The tool can be aligned to the component surface via an orientation movement. The orientation
movement is given control from the PLC via the VDI signals of the orientation axes (DB21, ...
DBB321).
Several orientation axes can be traversed simultaneously. The virtual orientation axes execute
rotations around the fixed axes of the relevant reference system.
The rotations are identified according to the RPY angles.
● A angle: Rotation around the Z axis
● B angle: Rotation around the Y axis
● C angle: Rotation around the X axis
Programming rotations:
Transformations
Function Manual, 06/2019, A5E47435470B AA
Starting position
Frame
Workpiece
End position
Cartesian manual travel in the tool coordinate system (translation)
M1: Kinematics transformation
2.7 Cartesian manual traversing (option)
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