Examples For Orientation Vectors; Example For Polynomial Interpretation Of Orientation Vectors - Siemens SINUMERIK 840D sl Function Manual

References:
Programming Manual, Production Planning
2.13.5

Examples for orientation vectors

2.13.5.1

Example for polynomial interpretation of orientation vectors

Orientation vector in Z-X plane
The orientation vector is programmed directly in the examples below. The resulting movements
of the rotary axes depend on the particular kinematics of the machine.
Program code
N10 TRAORI
N20 POLY
N30 A3=0 B3=0 C3=1
N40 A3=1 B3=0 C3=0
In N40, the orientation vector is rotated in the Z-X plane which is spanned by the start and end
vector. Here, the PHI angle is interpolated in a line in this plane between the values 0 and 90
degrees (large circle interpolation).
The additional specification of the polynomials for the two angles PHI and PSI means that the
interpolated orientation vector can lies anywhere between the start and end vector.
PHI angle using polynomial PHI
In contrast to the example above, the PHI angle is interpolated using the polynomial PHI(u) =
(90-10)u + 10*u
The angle PSI is not equal to zero and is interpolated according to the following polynomial:
PSI(u) = -10*u + 10*u
The maximum "tilt" of the orientation vector from the plane between the start and end vector
is obtained in the middle of the block (u = 1/2).
Program code
N10 TRAORI
N20 POLY
N30 A3=0 B3=0 C3=1
N40 A3=1 B3=0 C3=0
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Comment
; Polynomial interpolation is possible.
; Orientation in +Z direction (start vector)
; Orientation in +X direction (end vector)
between the values 0 and 90 degrees.
2
2
PO[PHI]=(10)
PO[PSI]=(10)
F2: Multi-axis transformations
Comment
; Polynomial interpolation is possible.
; Orientation in +Z direction (start vector)
; in +X direction (end vector)
2.13 Examples
133