Siemens SINUMERIK 840D sl Function Manual page 95

orientation not only at the block end, but also throughout the entire trajectory. The desired
orientation is achieved:
● By settable orientation methods with ORIPATH, specifying how interpolation is to be
performed relative to the path.
● Whether the tool orientation should either always run continuously with specifiable
deviations from the orientation relative to the path at a block transition, or whether the
orientation jump should be smoothed in a dedicated, inserted intermediate block. In this
case, path motion is stopped in the contour corner.
● There are two options of 6-axis transformations:
– Like tool rotation, tool orientation is interpolated relative to the path using ORIPATH,
– The orientation vector is programmed and interpolated in the usual manner. The rotation
Activate orientation relative to the path
The extended function "Orientation relative to the path" is activated with the following machine
data:
MD21094 $MC_ORIPATH_MODE > 0 (setting for path relative orientation ORIPATH)
The tool orientation relative to the path is activated in the part program by programming
ORIPATH. A kink in the orientation path, e.g. as can occur at a corner in the contour, can be
smoothed with ORIPATH.
Orientation at block transition
In case of the following machine data, tool orientation is always continuous at a block transition:
MD21094 $MC_ORIPATH_MODE = 0
With the following machine data a jump in tool orientation can occur at a block transition:
MD21094 $MC_ORIPATH_MODE > 0
A jump in orientation always occurs when either the path tangent or the surface normal vector
does not change smoothly at a block transition.
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
ORIPATHS.
of the orientation vector is initiated relative to the path tangent using ORIROTC.
Note
Orientation relative to the path interpolation with ORIPATH or ORIPATHS and
ORIROTC, can not be used in conjunction with the function "Orientation smoothing". For
this OSOF must be active in the part program. Otherwise alarm 10980 "Orientation
smoothing not possible" is generated.
F2: Multi-axis transformations
2.9 Orientation
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