Siemens SINUMERIK 840D sl Programming Manual page 655

axes describe the orientation in space and are called orientation axes in subsequent sections.
They are available as rotary axes on four types of machine with varying kinematics.
1. Two-axis swivel head, e.g. cardanic tool head with one rotary axis parallel to a linear axis on
a fixed tool table.
2. Two-axis rotary table, e.g. fixed swivel head with tool table, which can rotate about two axes.
3. Single-axis swivel head and single-axis rotary table, e.g. one rotatable swivel head with
rotated tool for tool table, which can rotate about one axis.
4. Two-axis swivel head and single-axis rotary table, e.g. on tool table, which can rotate about
one axis, and one rotatable swivel head with tool, which can rotate about itself.
3- and 4-axis transformations are special types of 5-axis transformation and are programmed
in the same way as 5-axis transformations.
The functional scope of "generic 3-/4-/5-/6-axis transformation" is suitable both for
transformations for orthogonal rotary axes and transformations for the universal milling head
and, like all other orientation transformations, can also be activated for these four machine
types with TRAORI. In generic 5-/6-axis transformation, tool orientation has an additional third
degree of freedom, whereby the tool can be rotated about its own axis relative to the tool
direction so that it can be directed as required in space.
Further information
Transformations Function Manual; Multiple Transformations
Initial tool orientation setting regardless of kinematics
ORIRESET
If an orientation transformation is active using TRAORI, then ORIRESET can be used to specify
the initial settings of up to 3 orientation axes with the optional parameters A, B, C. The order in
which the programmed parameters are assigned to the round axes depends on the orientation
axis order defined by the transformation. Programming ORIRESET(A, B, C) results in the
orientation axes moving in linear and synchronous motion from their current position to the
specified initial setting position.
Kinematic transformations
TRANSMIT and TRACYL
For milling on turning machines, either
1. Face machining in the turning clamp with TRANSMIT or
2. Machining of grooves with any path on cylindrical bodies with TRACYL
can be programmed for the transformation declared.
TRAANG
If the option of setting the infeed axis for inclined infeed is required (for grinding technology, for
example), TRAANG can be used to program a configurable angle for the transformation
declared.
Cartesian PTP travel
NC programming
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
Work preparation
3.9 Transformations
655