Example Of Rotations Of Orientation Vector; Examples For Generic Axis Transformations - Siemens SINUMERIK 840D sl Function Manual

F2: Multi-axis transformations
2.13 Examples
2.13.5.2

Example of rotations of orientation vector

Rotations with angle of rotation THETA
In the following example, the angle of rotation is interpolated in linear fashion from starting
value 0 degrees to end value 90 degrees. The angle of rotation changes according to a
parabola or a rotation can be executed without a change in orientation. tool orientation is
rotated from the Y direction to the X direction.
Program code
N10 TRAORI
N20 G1 X0 Y0 Z0 F5000
N30 A3=0 B3=0 C3=1 THETA=0
N40 A3=1 B3=0 C3=0 THETA=90
N50 A3=0 B3=1 C3=0 PO[THT]=(180,90)
N60 A3=0 B3=1 C3=0 THETA=IC(-90)
N70 ORIROTT
N80 A3=1 B3=0 C3=0 THETA=30
N40 Linear interpolation of angle of rotation from starting value 0 degrees to end value 90
degrees.
N50 The angle of rotation changes from 90 degrees to 180 degrees in accordance with the
parabola.
θ(u) = 90 + u
N60 A rotation can also be programmed without a change in orientation taking place.
N80 Tool orientation is rotated from the Y direction to the X direction. The change in orientation
takes place in the X-Y plane and the rotation vector describes an angle of 30 degrees to this
plane.
2.13.6

Examples for generic axis transformations

The following example is based on a machine with rotatable tool on which the first rotary axis
is a C axis and the second a B axis (CB kinematics). The basic orientation defined in the
machine data is the bisecting line between the X and Z axes.
Relevant machine data is as follows:
CHANDATA(1)
$MC_TRAFO_TYPE_1 = 24
134
2
Comment
; Activation of orientation transformation
;
; Tool orientation
; In Z direction with angle of rotation 0
; In X direction and rotation
; By 90 degrees
; In Y direction and rotation
; To 180 degrees
; Remains constant and rotation
; To 90 degrees
; Angle of rotation relative to
; change in orientation.
; Rotation vector in angle
; 30 degrees to X-Y plane.
; General 5-axis transformation
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions