Orientation Movements For Transformations - Siemens SINUMERIK 840D sl Programming Manual

Transformations
6.1 General programming of transformation types
6.1.1

Orientation movements for transformations

Travel movements and orientation movements
The traversing movements of the programmed orientations are determined primarily by the
type of machine. For three-, four-, and five-axis type transformations with TRAORI, the rotary
axes or pivoting linear axes describe the orientation movements of the tool.
Changes in the position of the rotary axes involved in the orientation transformation will
induce compensating movements on the remaining machine axes. The position of the tool tip
remains unchanged.
Orientation movements of the tool can be programmed using the rotary axis identifiers A...,
B..., C... of the virtual axes as appropriate for the application either by entering Euler or RPY
angles or directional or surface normal vectors, normalized vectors for the rotary axis of a
taper or for intermediate orientation on the peripheral surface of a taper.
In the case of kinematic transformation with TRANSMIT, TRACYL and TRAANG, the control
maps the programmed Cartesian coordinate system traversing movements to the traversing
movements of the real machine axes.
Machine kinematics for three, four and five axis transformation (TRAORI)
Either the tool or the tool table can be rotatable with up to two rotary axes. A combination of
swivel head and rotary table (single-axis in each case) is also possible.
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Programming Manual, 06/2009, 6FC5398-2BP20-0BA0
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