Restrictions For Kinematics And Interpolation - Siemens SINUMERIK 840D sl Function Manual

F2: Multi-axis transformations

2.8 Restrictions for kinematics and interpolation

the first axis rotates around the x direction,
the second axis rotates around the y direction,
the third axis (if present) rotates around the new z direction.
SD42660 $SC_ORI_JOG_MODE = 3: When jogging, RPY angles are traversed with rotation
sequence ZYX, i.e.:
the first axis rotates around the z direction,
the second axis rotates around the y direction,
the third axis (if present) rotates around the new x direction.
Rotation sequence of the rotary axes
Rotation sequence of the rotary axes is set via the following setting data:
● SD42660 $SC_ORI_JOG_MODE = 4:
via machine data MD21120 $MC_ORIAX_TURN_TAB_1 (definition of reference axes for
ORI axes)
● SD42660 $SC_ORI_JOG_MODE = 5:
via machine data MD21130 $MC_ORIAX_TURN_TAB_2 (definition of reference axes for
ORI axes)
For further explanations of the orientation movements (see Section "Orientation (Page 85)"
and "Orientation axes (Page 103)").
Note
For further information about the programming of rotations please refer to:
References:
Programming Manual, Job Planning; Section: "Transformations"
2.8 Restrictions for kinematics and interpolation
For systems where there are less than six axes available for transformation, the following
restrictions must be taken into account.
5-axis kinematics
For 5-axis kinematics there are two degrees of freedom for orientation. The assignment of
orientation axes and tool vector direction must be selected so that there is no rotation around
the tool vector. As a result, only two orientation angles are required to describe the orientation.
If the axis is traversed using ORIVECT, the tool vector performs pure swiveling motion.
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Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions