Siemens SINUMERIK 840D sl Programming Manual page 628

Tables
15.1 List of statements
ORIC
1,6
Orientation changes at outside corners are
superimposed on the circle block to be
inserted (orientation change continuously)
ORID Orientation changes are performed before
6
the circle block (orientation change
discontinuously)
ORIAXPOS Orientation angle via virtual orientation
axes with rotary axis positions
ORIEULER Orientation angle via Euler angle
ORIAXES Linear interpolation of machine axes or
orientation axes
ORICONCW Interpolation on a circular peripheral
surface in CW direction
ORICONCCW Interpolation on a circular peripheral
surface in CCW direction
ORICONIO Interpolation on a circular peripheral
surface with intermediate orientation
setting
ORICONTO Interpolation on circular peripheral surface
in tangential transition
(final orientation)
ORICURVE Interpolation of orientation with
specification of motion of two contact
points of tool
ORIPLANE Interpolation in a plane
(corresponds to ORIVECT)
ORIPATH Tool orientation trajectory relative to the
path
ORIPATHS Tool orientation relative to the path, blips in
the orientation characteristic are smoothed
ORIROTA Angle of rotation to an absolute direction of
rotation
ORIROTC Tangential rotational vector in relation to
path tangent
ORIROTR Angle of rotation relative to the plane
between the start and end orientation.
ORIROTT Angle of rotation relative to the change in
the orientation vector.
ORIRPY Orientation angle via RPY angle (rotation
sequence XYZ)
ORIRPY2 Orientation angle via RPY angle (rotation
sequence ZYX)
ORIS Orientation modification
5
(orientation smoothing factor)
ORIVECT Large-radius circular interpolation (identical
to ORIPLANE)
15-24
Final orientation:
Vector
specification
A3, B2, C2
Additional inputs:
Rotational
vectors
A6, B6, C6
Arc angle of taper
in degrees:
0<SLOT<180
deg.
Intermediate
vectors: A7, B7,
C7
contact point of
tool: XH, YH, ZH
Transformation
package
handling, see
/FB/, TE4
Relative to the
path as a whole
In relation to path
tangent
Real Relative to the
path
Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
Parameter settings as
follows:
Direction vectors
normalized A6=0, B6=0,
C6=0
Opening angle
implemented as travel
angle with SLOT=...
SLOT=+... at ≤ 180
degrees SLOT = -... at ≥
180 degrees
Intermediate orientation
normalized A7=0 B7=0
C7=1
m 27
m 27
m 50
m 50
m 51
m 51
m 51
m 51
m 51
m 51
m 51
m 51
m 51
m 54
m 54
m 54
m 54
m 50
m 50
m
m 51
Job planning