Compression Of The Orientation (Compcad, Compsurf) - Siemens SINUMERIK 840D sl Programming Manual

Work preparation
3.9 Transformations
3.9.7

Compression of the orientation (COMPCAD, COMPSURF)

NC programs, in which orientation transformation (TRAORI) is active and tool orientations are
programmed (no matter what type), can be compressed if kept within specified limits.
Programming
Tool orientation
If orientation transformation (TRAORI) is active, for 5-axis machines, tool orientation can be
programmed in the following way (independent of the kinematics):
● Programming of the direction vector via:
A3=<...> B3=<...> C3=<...>
● Programming of the Eulerangles or RPY-angles via:
A2=<...> B2=<...> C2=<...>
Rotation of the tool
For 6-axis machines you can program the tool rotation in addition to the tool orientation.
The angle of rotation is programmed with:
THETA=<...>
See " Rotations of the tool orientation (ORIROTA, ORIROTR, ORIROTT, ORIROTC, THETA)
(Page 685) ".
Note
NC blocks, in which rotation is also programmed, can only be compressed if the angle of
rotation changes linearly. This means that for an angle of rotation, it is not permissible that a
polynomial is programmed with PO[THT] = (...).
General structure of a compressible NC block
The general structure of an NC block that can be compressed can therefore look like this:
N... X=<...> Y=<...> Z=<...> A3=<...> B3=<...> C3=<...> THETA=<...> F=<...>
or
N... X=<...> Y=<...> Z=<...> A2=<...> B2=<...> C2=<...> THETA=<...> F=<...>
Note
The position values can be entered directly (e.g. X90) or indirectly via parameter settings (e.g.
X=R1*(R2+R3)).
Programming tool orientation using rotary axis positions
Tool orientation can be also specified using rotary axis positions, e.g. with the following
structure:
N... X=<...> Y=<...> Z=<...> A=<...> B=<...> C=<...> THETA=<...> F=<...>
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Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
NC programming