Programming For Orientation Transformation - Siemens SINUMERIK 840D sl Function Manual

F2: Multi-axis transformations
2.10 Orientation axes
2.10.2

Programming for orientation transformation

The values can only be programmed in conjunction with an orientation transformation.
Programming of orientation
Orientation axes are programmed by means of axis names A2, B2 and C2.
Euler and RPY values are distinguished on the basis of G-group 50:
● ORIEULER:
Orientation programming on the basis of Euler angles (default)
● ORIRPY:
Orientation programming via RPY angles
● ORIVIRT1:
Orientation programming on the basis of virtual orientation axes (definition 1)
● ORIVIRT2:
Orientation programming on the basis of virtual orientation axes (definition 2)
The type of interpolation is distinguished on the basis of G-group 51:
● ORIAXES:
Orientation programming of linear interpolation of orientation axes or machine axes
● ORIVECT:
Orientation programming of large circle interpolation of orientation axes (interpolation of
the orientation vector)
Machine data MD21102 $MC_ORI_DEF_WITH_G_CODE (definition of ORI axes via G-code)
is used to specify whether MD21100 $MC_ORIENTATION_IS_EULER (angle definition for
orientation programming) is active (default) or G-group 50.
The following four variants are available for programming orientation:
1. A, B, C:
Machine axis parameter designation
2. A2, B2, C2:
Angle programming of virtual axes
3. A3, B3, C3:
Vector component designation
4. LEAD, TILT:
Specification of lead and side angles with reference to path and surface
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Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions