Siemens SINUMERIK 840D sl Programming Manual page 338

Transformations
6.5 Orientations relative to the path
Activating the three angles that can be rotated:
N... LEAD=
N... TILT=
N... THETA=
The values of the angles at the end of block are programmed using
or
THETA=value
three angles up to the 5th degree.
N... PO[PHI]=(a2, a3, a4, a5)
N... PO[PSI]=(b2, b3, b4, b5)
N... PO[THT]=(d2, d3, d4, d5)
The higher polynomial coefficients, which are zero, can be omitted when programming.
Example:
Meaning
Tool orientation relative to the path
ORIPATH
ORIPATHS
LEAD
TILT
THETA
PO[PHI]
PO[PSI]
PO[THT]
Note
Angle of rotation THETA
A 6-axis transformation is required to rotate a tool with a third rotary axis that acts as an
orientation axis about itself.
338
. In addition to the constant angles, polynomials can be programmed for all
results in a parabola for the
PO[PHI]=a2
Tool orientation in relation to path
Tool orientation in relation to path, blips in the orientation characteristic are
smoothed
Angle relative to the surface normal vector in the plane that is defined by the
path tangent and the surface normal vector
Rotation of orientation in the Z direction or rotation about the path tangent
Rotation about the tool direction toward Z
Orientation polynomial for the LEAD angle
Orientation polynomial for the TILT angle
Orientation polynomial for the THETA angle of rotation
Angle for the programmed orientation relative to
the surface normal vector
Angle for the programmed orientation in the plane,
vertical to the path tangent relative to the surface
normal vector
Angle of rotation relative to the change of
orientation in the tool direction of the third rotary
axis
Polynomial for the leading angle LEAD
Polynomial for the tilt angle TILT
Polynomial for the angle of rotation
THETA
angle.
LEAD
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
,
LEAD=value TILT=value
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