Programming The Orientation Axes (Oriaxes, Orivect, Orieuler, Orirpy) - Siemens SINUMERIK 840D sl Programming Manual

Singular positions
Note
ORIWKS
Orientation movements in the singular setting area of the 5-axis machine require vast
movements of the machine axes. (For example, with a rotary swivel head with C as the
rotary axis and A as the swivel axis, all positions with A = 0 are singular.)
Machine manufacturer
To avoid overloading the machine axes, the velocity control vastly reduces the tool path
velocity near the singular positions.
With machine data
$MC_TRAFO5_NON_POLE_LIMIT
$MC_TRAFO5_POLE_LIMIT
the transformation can be parameterized in such a way that orientation movements close to
the pole are put through the pole and rapid machining is possible.
Singular positions are handled only with the MD $MC_TRAFO5_POLE_LIMIT.
References:
/FB3/ Function Manual, Special Functions; 3- to 5-Axis Transformation (F2),
"Singular Points and How to Deal with Them" section.
7.2.7

Programming the orientation axes (ORIAXES, ORIVECT, ORIEULER, ORIRPY)

Function
The orientation axes function describes the orientation of the tool in space and is achieved
by programming the offset for the rotary axes. An additional, third degree of freedom can be
achieved by also rotating the tool about itself. In this case, the tool is oriented in space via a
third rotary axis for which 6-axis transformation is required. The rotation of the tool about
itself is defined using the THETA angle of rotation in accordance with the type of
interpolation of the rotation vectors (see "Rotations of the tool orientation (ORIROTA/TR/TT,
ORIROTC, THETA)").
Job planning
Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
7.2 Three, four and five axis transformation (TRAORI)
Transformations
7-25