Siemens SINUMERIK 840D sl Function Manual page 571

Translation and orientation in the TCS simultaneously
If translation and orientation motions are executed at the same time, the translation is always
traversed corresponding to the current orientation of the tool. This permits infeed movements
that are made directly in the tool direction or movements that run perpendicular to tool
direction.
Orientation
The tool can be aligned to the component surface via an orientation movement. The
orientation movement is given control from the PLC via the VDI signals of the orientation
axes (DB21, ... DBB321).
Several orientation axes can be traversed simultaneously. The virtual orientation axes
execute rotations around the fixed axes of the relevant reference system.
The rotations are identified according to the RPY angles.
● A angle: Rotation around the Z axis
● B angle: Rotation through the Y axis
● C angle: Rotation around the X axis
Programming rotations:
The user can define how rotations are to be executed using the current G codes of group 50
for orientation definition
Specifying ORIEULER, ORIRPY, ORIVIRT1 and ORIVIRT2.
With ORIVIRT1 rotation is executed according to MD21120 $MC_ORIAX_TURN_TAB_1.
The orientation axes are assigned to the channel axes via machine data: MD24585
$MC_TRAFO5_ORIAX_ASSIGN_TAB_1.
The direction of rotation is determined according to the "right hand rule". The thumb points in
the direction of the rotary axis. The finger stipulates the positive direction of rotation.
Orientation in WCS
The rotations are made around the defined directions of the workpiece coordinate system. If
frame rotation is active, the movements correspond to the rotations in the basic coordinate
system.
Extended Functions
Function Manual, 09/2009, 6FC5397-1BP20-0BA0
M1: Kinematic transformation
7.7 Cartesian manual travel (optional)
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