Siemens SINUMERIK 840D sl Programming Manual page 266

Transformations
7.2 Three, four and five axis transformation (TRAORI)
Programming
The end orientation is either defined by specifying the angle programming in the Euler or
RPY angle using A2, B2, C2 or by programming the rotary axis positions using A, B, C.
Further programming details are needed for orientation axes along the peripheral surface of
a taper:
• Rotary axis of taper as a vector with A6, B6, C6
• Opening angle PSI with identifier NUT
• Intermediate orientation outside of the taper with A7, B7, C7
7-28
Note
Programming direction vector A6, B6, C6 for the rotary axis of the taper
The programming of an end orientation is not absolutely necessary. If no end orientation
is specified, a full outside taper with 360 degrees is interpolated.
Programming the opening angle of the taper with NUT=angle
An end orientation must be specified.
A complete outside taper with 360 degrees cannot be interpolated in this way.
Programming the intermediate orientation A7, B7, C7 on the outside of the taper
An end orientation must be specified. The change in orientation and the direction of
rotation is defined uniquely by the three vectors Start orientation, End orientation and
Intermediate orientation. All three vectors must be different. If the programmed
intermediate orientation is parallel to the start or end orientation, a linear large-radius
circular interpolation of the orientation is executed in the plane that is defined by the start
and end vector.
Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
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