Siemens SINUMERIK 840D sl Programming Manual page 335

6.4 Rotations of the tool orientation (ORIROTA, ORIROTR, ORIROTT, ORIROTC, THETA)
Example: Rotations of the orientations
Program code
N10 TRAORI
N20 G1 X0 Y0 Z0 F5000
N30 A3=0 B3=0 C3=1 THETA=0
N40 A3=1 B3=0 C3=0 THETA=90
N50 A3=0 B3=1 C3=0 PO[THT]=(180,90)
N60 A3=0 B3=1 C3=0 THETA=IC(-90)
N70 ORIROTT
N80 A3=1 B3=0 C3=0 THETA=30
When interpolating block
value of 90 degrees is interpolated linearly. In block
90 degrees to 180 degrees, according to parabola θ(u) = +90u2. In
be executed without a change in orientation taking place.
With
change in orientation takes place in the X/Y plane and the rotation vector describes an angle
of 30 degrees to this plane.
Description
ORIROTA
The angle of rotation
The basic direction of rotation is defined in the machine data.
ORIROTR
The angle of rotation
orientation.
ORIROTT
The angle of rotation
the rotation vector is interpolated tangentially to the change in orientation and only differs
from
orientation. The result is a change in orientation that is not executed in the plane. An
additional angle of rotation
it always produces a specific value referred to the change in orientation.
ORIROTC
The rotation vector is interpolated relative to the path tangent with an offset that can be
programmed using the
degree can also be programmed for the offset angle.
Job Planning
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
N40
, the tool orientation is rotated from the Y direction toward the X direction. The
N80
is interpolated with reference to an absolute direction in space.
THETA
is interpreted relative to the plane defined by the start and end
THETA
is interpreted relative to the change in orientation. For
THETA
if at least one polynomial has been programmed for "tilt angle PSI" for the
ORIROTR
THETA
THETA
Comment
; Activate orientation transformation
; Tool orientation
; In Z direction with angle of rotation 0
; In X direction and rotation about 90 degrees
; Orientation
; In Y direction and rotation about 180
degrees
; Remains constant and rotation to 90 degrees
; Angle of rotation relative to change of
orientation
; Rotation vector in angle 30 degrees to X/Y
plane
, the angle of rotation from initial value of 0 degrees to final
can then be used to interpolate the rotation vector such that
angle. A polynomial
PO[THT]=(c2, c3, c4, c5)
, the angle of rotation changes from
N50
, a rotation can also
N60
Transformations
THETA=0
up to the 5th
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