Siemens SINUMERIK 840D sl Programming Manual page 670

Work preparation
3.9 Transformations
The following commands are available for orientation programming:
Command
ORIEULER:
ORIRPY:
ORIRPY2:
ORIVIRT1:
ORIVIRT2:
ORIAXPOS:
Note
The machine manufacturer can use machine data to define various variants. Please refer to the
machine manufacturer's instructions.
Programming in Euler angles ORIEULER, rotation sequence Z X' Z''
The values programmed during ORIEULER orientation programming with A2, B2, C2 are
interpreted as Euler angles (in degrees).
The new orientation vector results from the following three rotations of the original orientation
vector
1. with the rotary axis A2 about the coordinate axis Z
2. with the rotary axis B2 about the new coordinate axis X'
3. with the rotary axis C2 about the coordinate axis Z"
In this case the value of C2 (rotation around the new Z axis) is meaningless and does not have
to be programmed.
Programming in RPY angles ORIRPY, rotation sequence X Y' Z''
The values programmed during ORIEULER orientation programming with A2, B2, C2 are
interpreted as RPY angles (in degrees) with the rotation sequence X Y' Z''.
Note
In contrast to programming with ORIEULER, with ORIRPY all three values here have an effect
on the orientation vector.
The new orientation vector results from the following three rotations of the original orientation
vector
1. with the rotary axis A2 about the coordinate axis X
2. with the rotary axis B2 about the new coordinate axis Y'
3. with the rotary axis C2 about the coordinate axis Z"
670
Meaning
Euler angle with rotation sequence ZX'Z''
RPY angle with rotation sequence XY'Z''
RPY angle with rotation sequence ZY'X''
Virtual orientation axes with freely definable rotation sequence via:
MD21120 $MC_ORIAX_TURN_TAB_1
Virtual orientation axes with freely definable rotation sequence via:
MD21130 $MC_ORIAX_TURN_TAB_2
Virtual orientation axes with rotary axis positions
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
NC programming