Overview Of Orientation Transformation Traori - Siemens SINUMERIK 840D sl Programming Manual

7.1.2

Overview of orientation transformation TRAORI

Programming types available in conjunction with TRAORI
Machine type
Machine types 1, 2, or 3
two-axis swivel head or
two-axis rotary table or a
combination of single-axis
swivel head and single-
axis rotary table.
Job planning
Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
7.1 General programming of transformation types
Programming with active transformation TRAORI
The axis sequence of the orientation axes and the orientation
direction of the tool can either be configured on a
machine-specific basis using machine data
depending on the machine kinematics or on a
workpiece-specific basis with programmable orientation
independently of the machine kinematics.
The directions of rotation of the orientation axes in the
reference system are programmed with:
- ORIMKS reference system = machine coordinate system
- ORIWKS reference system = workpiece coordinate system
The default setting is ORIWKS.
Programming of orientation axes with:
A, B, C of machine axis position directly
A2, B2, C2 angular programming of virtual axes with
- ORIEULER using Euler angle (default)
- ORIRPY using RPY angle
- ORIVIRT1 using virtual orientation axes 1st definition
- ORIVIRT2 using virtual orientation axes 2nd definition
with differentiation of interpolation type:
Linear interpolation
- ORIAXES of orientation axes or machine axes
Large-radius circular interpolation (interpolation of orientation
vector)
- ORIVECT of orientation axes
Programming of orientation axes by entering
A3, B3, C3 of vector components (direction/surface normal)
Programming of resulting tool orientation
A4, B4, C4 of surface normal vector at start of block
A5, B5, C5 of surface normal vector at end of block
LEAD angle for tool orientation
TILT angle for tool orientation
Interpolation of orientation vector on the peripheral surface of
a taper
Changes in orientation on the peripheral surface of a taper
located anywhere in space by means of interpolation:
- ORIPLANE in the plane (large-radius circular interpolation)
- ORICONCW on the peripheral surface of a taper clockwise
- ORICONCCW on the peripheral surface of a taper counter-
clockwise
A6, B6, C6 direction vectors (rotary axis of taper)
-OICONIO interpolation on the peripheral surface of a taper
with:
A7, B7, C7 intermediate vectors (initial and ultimate
orientation)
Transformations
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