Siemens SINUMERIK 840D sl Programming Manual page 363

Examples
1. Example of machine kinematics CA (channel axis names C, A)
ORIRESET(90, 45)
ORIRESET(, 30)
ORIRESET( )
2. Example of machine kinematics CAC (channel axis names C, A, B)
ORIRESET(90, 45, 90)
ORIRESET( )
Programming LEAD, TILT and THETA rotations
In respect of three- to five-axis transformation, tool orientation rotations are programmed with
the LEAD and TILT angles.
In respect of a transformation with third rotary axis, additional programming settings for C2
(rotations of the orientation vector) are permitted for both orientation with vector components
and with entry of the LEAD, TILT angles.
With an additional third rotary axis, the rotation of the tool about itself can be programmed
with the THETA rotary angle.
Job Planning
Programming Manual, 06/2009, 6FC5398-2BP20-0BA0
6.2 Three, four and five axis transformation (TRAORI)
;C at 90 degrees, A at 45 degrees
;C at $MC_TRAFO5_ROT_AX_OFFSET_1/2[0], A at 30 degrees
;C at $MC_TRAFO5_ROT_AX_OFFSET_1/2[0],
;A at $MC_TRAFO5_ROT_AX_OFFSET_1/2[1]
;C at 90 degrees, A at 45 degrees, B at 90 degrees
;C at $MC_TRAFO5_ROT_AX_OFFSET_1/2[0],
;A at $MC_TRAFO5_ROT_AX_OFFSET_1/2[1],
;B at $MC_TRAFO5_ROT_AX_OFFSET_1/2[2]
Transformations
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