Programming Of The Tool Orientation (A - Siemens SINUMERIK 840D sl Programming Manual

Programming LEAD, TILT and THETA rotations
In respect of three- to five-axis transformation, tool orientation rotations are programmed with
the LEAD and TILT angles.
In respect of a transformation with third rotary axis, additional programming settings for C2
(rotations of the orientation vector) are permitted for both orientation with vector components
and with entry of the LEAD, TILT angles.
With an additional third rotary axis, the rotation of the tool about itself can be programmed
with the THETA rotary angle.
7.2.4 Programming of the tool orientation (A..., B..., C..., LEAD, TILT)
Function
The following options are available when programming tool orientation:
1. Direct programming the motion of rotary axes. The change of orientation always occurs in
2. Programming in Euler or RPY angles in accordance with angle definition using A2, B2,
3. Programming of the direction vector using A3, B3, C3. The direction vector points from
4. Programming the surface normal vector at the start of the block with A4, B4, C4 and at
5. Programming using lead angle LEAD and tilt angle TILT
6. Programming of rotary axis of taper as normalized vector using A6, B6, C6 or of
7. Programming of reorientation, direction and path length of tool during retraction
Definition of tool orientation via G code
Job planning
Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
the basic or machine coordinate system. The orientation axes are traversed as
synchronized axes.
C2
the tool tip toward the tool adapter.
the end of the block with A5, B5, C5 (face milling).
intermediate orientation on the peripheral surface of a taper using A7, B7, C7,
see "Orientation programming along the peripheral surface of a taper (ORIPLANE,
ORICONxx)".
movement using A8, B8, C8,
see "Smoothing the orientation characteristic (ORIPATHS A8=, B8=, C8=)"
Note
In all cases, orientation programming is only permissible if an orientation transformation is
active.
Advantage: These programs can be transferred to any machine kinematics.
7.2 Three, four and five axis transformation (TRAORI)
Transformations
7-15