Siemens SINUMERIK 840D sl Programming Manual page 691

Note
Interpolation of the rotation vector ORIROTC
Initiating rotation of the tool relative to the path tangent in the opposite direction to the tool
orientation, is only possible with a 6-axis transformation.
With active ORIROTC
Rotation vector ORIROTA cannot be programmed. If programming is undertaken, ALARM
14128 "Absolute programming of tool rotation with active ORIROTC" is output.
Orientation direction of the tool for 3-axis to 5-axis transformation
The orientation direction of the tool can be programmed via Euler angles, RPY angles or
direction vectors as with 3-axis to 5-axis transformations. Orientation changes of the tool in
space can also be achieved by programming the large-circle interpolation ORIVECT, linear
interpolation of the orientation axes ORIAXES, all interpolations on the peripheral surface of a
taper ORICONxx, and interpolation in addition to the curve in space with two contact points of
the tool ORICURVE.
G....:
X, Y, Z:
ORIAXES:
ORIVECT:
ORIMKS:
ORIWKS:
A= B= C=:
ORIEULER:
ORIRPY:
A2= B2= C2=:
ORIVIRT1:
ORIVIRT2:
A3= B3= C3=:
ORIPLANE:
ORICONCW:
ORICONCCW:
ORICONTO:
A6= B6= C6=:
NUT=angle
NUT=+179
NUT=-181
ORICONIO:
NC programming
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
Details of the rotary axis motion
Details of the linear axes
Linear interpolation of machine or orientation axes
Large-circle interpolation (identical to ORIPLANE)
Rotation in the machine coordinate system
Rotation in the workpiece coordinate system
Description, see the Rotations of the tool orientation section
Programming the machine axis position
Orientation programming via Euler angle
Orientation programming via RPY angle
Angle programming of virtual axes
Orientation programming using virtual orientation axes
(definition 1), definition according to MD $MC_ORIAX_TURN_TAB_1
(definition 2), definition according to MD $MC_ORIAX_TURN_TAB_2
Direction vector programming of direction axis
Interpolation in the plane (large-circle interpolation)
Interpolation on the peripheral surface of a taper in the clockwise direc‐
tion
Interpolation on the peripheral surface of a taper in the counter-clock‐
wise direction
Interpolation on the peripheral surface of a taper with tangential transition
Programming of a rotary axis of the taper (normalized vector)
Opening angle of taper in degrees
Traverse angle less than or equal to 180 degrees
Traverse angle greater than or equal to 180 degrees
Interpolation on the peripheral surface of a taper
Work preparation
3.9 Transformations
691