Siemens SINUMERIK 840D sl Programming Manual page 684

Work preparation
3.9 Transformations
In both cases, with 6-axis transformations, a polynomial can also be programmed for the
rotation using
N... PO[THT]=(c2, c3, c4, c5)
or
N... PO[THT]=(d2, d3, d4, d5)
of the orientation vector. This is possible if the transformation supports a rotation vector with an
offset that can be programmed and interpolated using the THETA angle of rotation.
Meaning
PO[PHI]
PO[PSI]
PO[THT]
PHI
PSI
THETA
PO[XH]
PO[YH]
PO[ZH]
Further information
Orientation polynomials cannot be programmed:
● If ASPLINE, BSPLINE, CSPLINE spline interpolations are active.
Type 1 polynomials for orientation angles are possible for every type of interpolation except
spline interpolation, that is, linear interpolation with rapid traverse G00 or with feedrate G01
circular/involute interpolation G02, G03, CIP, CT, INVCW and INCCCW
.
However, type 2 polynomials for orientation coordinates are only possible if
linear interpolation with rapid traverse G00 or with feedrate G01 or
● If the orientation is interpolated using ORIAXES axis interpolation. In this case, polynomials
can be programmed directly with PO[A] and PO[B] for orientation axes A and B.
Type 1 orientation polynomials with ORIVECT, ORIPLANE and ORICONxx
Only type 1 orientation polynomials are possible for large-radius circular interpolation and
interpolation outside of the taper with ORIVECT, ORIPLANE and ORICONxx.
684
Angle in the plane between start and end orientation
Angle describing the tilt of the orientation from the plane between start and end orien‐
tation
Angle of rotation created by rotating the rotation vector of one of the G commands of
group 54 that is programmed using THETA
Lead angle LEAD
Tilt angle TILT
Rotation about the tool direction in Z
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
with polynomial interpolation using POLY and
polynomial interpolation with POLY is active.
Interpolation of the rotation relative to the
path
Interpolation absolute, relative and tangen‐
tial to the change of orientation
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
NC programming