Siemens SINUMERIK 840D sl Programming Manual page 314

Transformations
6.2 Three, four and five axis transformation (TRAORI)
Definition of tool orientation via G code
Note
Machine manufacturer
Machine data can be used to switch between Euler or RPY angles. If the machine data is set
accordingly, changeovers are possible both depending on the active G code of group 50 and
irrespective of this. The following setting options can be selected:
1. If both machine data for defining the orientation axes and defining the orientation angle
2. If the machine data for defining the orientation axes is set to one via G code, the
3. If the machine data for defining the orientation angle is set to one via G code and the
Programming
G1 X Y Z A B C
G1 X Y Z A2= B2= C2=
G1 X Y Z A3== B3== C3==
G1 X Y Z A4== B4== C4==
G1 X Y Z A5== B5== C5==
LEAD=
TILT=
314
are set to zero via G code:
The angles programmed using
definition of orientation programming is either interpreted as Euler or RPY angles.
changeover is dependent on the active G code of group 50:
The angles programmed using
G codes
ORIEULER, ORIRPY, ORIVIRT1, ORIVIRT2, ORIAXPOS
programmed with the orientation axes are also interpreted as orientation angles in
accordance with the active G code of group 50.
machine data for defining the orientation axes is set to zero via G code, the changeover
is not dependent on the active G code of group 50:
The angles programmed using
active G codes
ORIEULER, ORIRPY, ORIVIRT1, ORIVIRT2 ORIAXPOS
programmed with the orientation axes are always interpreted as round axis positions
irrespective of the active G code of group 50.
are dependent on machine data The angle
A2, B2, C2
are interpreted in accordance with the active
A2, B2, C2
are interpreted in accordance with one of the
A2, B2, C2
Programming of rotary axis motion
Programming in Euler angles
Programming of directional vector
Programming the surface normal vector at block start
Programming the surface normal vector at end of block
Lead angle for programming tool orientation
Tilt angle for programming tool orientation
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
and . The values
ORIPY2
and The values
ORIPY2.
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