Siemens SINUMERIK 840DE sl Function Manual page 186

F2: Multi-axis transformations
3.7 Generic 5-axis transformation and variants
Orientation
1. Orientation with axis interpolation
If the 7th axis should have no influence on the programmed orientation, the G commands
of groups 25 and 51 must be set accordingly:
G group 25: ORIMKS
G group 51: ORIAXES (if MD21104 $MC_ORI_IPO_WITH_G_CODE = 1 is set).
The programmed positions of the rotary axes are not changed by the position of the 7th axis
in this case, but are approached directly. The orientation is programmed in relation to the
machine.
Example
Program code
TRAORI(1)
ORIAXES
ORIMKS
G1 X500 Y300 Z800 C15 A5 C1=10 E1=120
1. Orientation and large circle interpolation
If traversing is to be done with large radius circular interpolation, the end orientation is
rotated with the 7th axis.
G command group 25: ORIWKS
G command group 51: ORIVECT (if MD21104 $MC_ORI_IPO_WITH_G_CODE = 1 is set).
In this case the orientation must be programmed in relation to the workpiece. The
programmed orientation is thus related to the fixed workpiece. The position of the 7th axis
is thus not contained in the programmed orientation.
Example
Program code
TRAORI(1)
ORIVECT
ORIWKS
G1 X500 Y800 Z100 A3=0 B3=1 C3=0 AN3=0 BN3=0 CN3=–1 E1=–90
Frames
The basic coordinate system sits on the 7th axis. It is also rotated when the 7th axis rotates.
This way the workpiece coordinate system (WCS) does not remain stationary when the
workpiece is rotated over the 7th axis. A workpiece position rotated to the zero position of the
7th axis can be compensated by an axial frame offset of the 7th axis.
Traversing with the 7th axis in JOG mode
Only the compensatory movements for the linear axes are created if the 7th axis is traversed
in the JOG mode with active 7-axis transformation. The position at the workpiece is kept
constant in this way. As the rotary axes go into the transformation only as input axes, they are
not influenced by the 7th axis during the JOG travel. The orientation at the workpiece is thus
kept variable.
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Function Manual, 06/2019, A5E47435470B AA
Transformations