Rotations Of Orientation Vector - Siemens SINUMERIK 840D sl Function Manual

F2: Multi-axis transformations
2.11 Orientation vectors
Special situations
If no polynomial for angle PSI is programmed, the orientation vector is always interpolated in
the plane defined by the start and end vector.
The PHI angle in this plane is interpolated according to the programmed polynomial for PHI.
As a result the orientation vector moves through a "normal" large circle interpolation in the
plane between the start and end vector and the movement is more or less irregular depending
on the programmed polynomial.
In this way, the velocity and acceleration curve of the orientation axes can be influenced within
a block, for example.
Note
Further information on polynomial interpolation for axis motion and general programming is
given in:
Reference:
Programming Manual; Production Planning
Boundary conditions
Polynomial interpolation of orientation vectors is only possible for control variants in which the
following functions are included in the functional scope:
● Orientation transformation
● Polynomial interpolation
2.11.2

Rotations of orientation vector

Functionality
Changes in tool orientation are programmed by specifying an orientation vector in each block,
which is to be reached at the end of the block. The end orientation of each block can be
programmed in the following way:
1. programming the vector directly, or
2. programming the rotary axis positions.
The second option depends on machine kinematics. Interpolation of the orientation vector
between the start and end values can also be modified by programming polynomials.
Programming of orientation directions
The following options are available for programming tool orientation:
1. Direct programming of rotary axis positions (the orientation vector is derived from machine
kinematics).
2. Programming in Euler angles via A2, B2, C2 (angle C2 is irrelevant).
114
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions