Programming Orientation Axes (Oriaxes, Orivect, Orieuler, Orirpy, Orirpy2, Orivirt1, Orivirt2) - Siemens SINUMERIK 840D sl Programming Manual

6.2.7 Programming orientation axes (ORIAXES, ORIVECT, ORIEULER, ORIRPY,
ORIRPY2, ORIVIRT1, ORIVIRT2)
Function
The orientation axes function describes the orientation of the tool in space and is achieved
by programming the offset for the rotary axes. An additional, third degree of freedom can be
achieved by also rotating the tool about itself. In this case, the tool is oriented in space via a
third rotary axis for which 6-axis transformation is required. The rotation of the tool about
itself is defined using the THETA angle of rotation in accordance with the type of
interpolation of the rotation vectors (see "Rotations of the tool orientation (ORIROTA/TR/TT,
ORIROTC, THETA)").
Programming
Axis identifiers A2, B2 and C2 are used to program the orientation axes.
N... ORIAXES or ORIVECT
N... G1 X Y Z A B C
or
N... ORIPLANE
or
N... ORIEULER or ORIRPY/ORIRPY2
N... G1 X Y Z A2= B2= C2=
or
N... ORIVIRT1 or ORIVIRT2
N... G1 X Y Z A3= B3= C3=
Other rotary axis offsets of the orientation axes can be programmed for orientation changes
along the peripheral surface of a taper in space; see "Orientation programming along the
peripheral surface of a taper (ORIPLANE, ORICONxx)".
Job Planning
Programming Manual, 06/2009, 6FC5398-2BP20-0BA0
6.2 Three, four and five axis transformation (TRAORI)
Linear or large-radius circular
interpolation
or
orientation interpolation of the plane
or
Orientation angle Euler/RPY angle
Angle programming of virtual axes
or
definition 1 or 2 direction vector
programming of virtual orientation axes
Transformations
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