5-Axis Functionality - Siemens SINUMERIK 828D Manual

8.1
164
Reference section

8.1.3 5-axis functionality

Transformation
TRAORI Activation of transformation 1
TRAORI(1) Activation of transformation 1
TRAORI(2) Activation of transformation 2
TRAORI(1, ..., ..., ...) Activation of transformation 1, generic transformation, additional 3
parameters for basic orientation vector
TRAORI(2, ..., ..., ...) Activation of transformation 2, generic transformation, additional 3
parameters for basic orientation vector
TRAFOON(<Name>) Activation of TRAORI when set via kinematic chain
TRAFOOF Deactivation of transformation
Orientation programming
ORIEULER Orientation programming on the basis of Euler angles (default)
ORIRPY Orientation programming on the basis of RPY angles
Otherwise, specified via machine data.
A2=... B2=... C2=... Euler or RPY angle
A3=... B3=... C3=... Cartesian orientation vector
XH=..., YH=..., ZH=... For ORIVECT or ORIPLANE, synonymous with A3=... etc. More
extensive meaning in conjunction with ORICURVE; in this case either
serves as a control polygon with BSPLINE, or in conjunction with
POLY has a polynomial definition, otherwise linear interpolation for the
upper straight line, geometric large circle, but not in terms of velocity.
LEAD, TILT Lead/tilt angle relative to normal vectors and path tangent. The normal
vectors at the start of the block and at the end are defined by A4=...
B4=... C4=... and A5=... B5=... C5=...
Only in conjunction with ORIPATH.
Orientation reference
ORIMKS The reference system for the orientation vector is the basic coordinate
system.
Notice: Response of ORIMKS can be set via machine data.
ORIWKS The reference system for the orientation vector is the workpiece
coordinate system.
Notice: Response of ORIWKS can be set via machine data.
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