Siemens SINUMERIK 840DE sl Function Manual page 207

Type 2 polynomials
Orientation polynomials of type 2 are polynomials for coordinates
PO[XH]:
PO[YH]:
PO[ZH]:
Polynomials for angle of rotation and rotation vectors
For 6-axis transformations, the rotation of the tool around itself can be programmed for tool
orientation. This rotation of a third rotary axis is described either by an angle of rotation or by
a rotation vector, which is perpendicular to the tool direction in the plane.
In addition, a polynomial for rotation with PO[THT} of the orientation vector can be programmed
in these three cases. This is always possible if the kinematic transformation applied, supports
rotary angles.
Angle of rotation with ORIPATH and ORIPATHS
With orientation interpolation relative to the path with ORIPATH or ORIPATHS, the additional
rotation can be programmed with the angle THETA=<...>. In addition, for this angle of
rotation, with PO[THT]=(...) As a maximum, 5th degree polynomial angles can be
programmed.
The 3 possible angles, i.e. lead angle, tilt angle and angle of rotation, have the following
meaning with respect to the rotation effect:
LEAD: Angle relative to the surface normal vector in the plane put up by the path tangent and
TILT:
THE‐
TA:
How the angles LEAD and TILT are to be interpreted, can be set with the following machine
data:
MD21094 $MC_ORIPATH_MODE (setting for path relative orientation ORIPATH)
In addition to the constant angles programmed with LEAD and TILT, polynomials can be
programmed for lead angle and tilt angle. The polynomials are programmed using the angles
PHI and PSI:
PO[PHI]=(a2,a3,a
4,a5):
PO[PSI]=(b2,b3,b
4,b5):
For both angles, as a maximum, 5th degree polynomial angles can be programmed. The angle
values at the block end are programmed with the NC addresses LEAD=<...> or
TILT=<...>.
Transformations
Function Manual, 06/2019, A5E47435470B AA
x coordinate of the reference point on the tool
y coordinate of the reference point on the tool
z coordinate of the reference point on the tool
the surface normal vector.
Rotation of orientation in the z direction or rotation about the path tangent.
Rotation around the tool direction. This is only possible when the tool orientation has
a total of 3 degrees of freedom (see Section "Extension of the generic transformation
to 6 axes (Page 179)").
Polynomial for the LEAD angle
Polynomial for the TILT angle
F2: Multi-axis transformations
3.9 Orientation
207