Siemens SINUMERIK 840DE sl Function Manual page 197

Programming tool orientation using rotary axis positions
Tool orientation can be also specified using rotary axis positions, e.g. with the following
structure:
N... X=<...> Y=<...> Z=<...> A=<...> B=<...> C=<...> THETA=<...> F=<...>
In this case, compression is executed in two different ways, depending on whether large-radius
circular interpolation is executed. If no large-radius circular interpolation takes place, then the
compressed change in orientation is represented in the usual way by axial polynomials for the
rotary axes.
Activate compressor function
Compressor functions are activated by modal G commands COMPON, COMPCURV, COMPCAD or
COMPSURF.
Deactivate compressor function
COMPOF terminates the compressor function.
Example
In the example program below, a circle approximated by a polygon definition is compressed.
The tool orientation moves on the outside of the taper at the same time. Although the
programmed orientation changes are executed one after the other, but discontinuously, the
compressor function generates a smooth motion of the orientation.
Program code
DEF INT NUMBER=60
DEF REAL RADIUS=20
DEF INT COUNTER
DEF REAL ANGLE
N10 G1 X0 Y0 F5000 G64 //sort match
rate lower first
$SC_COMPRESS_CONTUR_TOL=0.05
$SC_COMPRESS_ORI_TOL=5
TRAORI
COMPCURV
N100 X0 Y0 A3=0 B3=-1 C3=1
N110 FOR COUNTER=0 TO NUMBER
N120 ANGLE=360*COUNTER/NUMBER
N130 X=RADIUS*cos(angle) Y=RADIUS*sin(angle)
A3=sin(angle) B3=-cos(angle) C3=1
N140 ENDFOR
Transformations
Function Manual, 06/2019, A5E47435470B AA
F2: Multi-axis transformations
Comment
; Maximum deviation of the contour = 0.05 mm
; Maximum deviation of the orientation
= 5 degrees
; The movement describes a circle generated
from polygons. The orientation moves on a
taper around the Z axis with an opening an-
gle of 45 degrees.
3.9 Orientation
197