Orientation Axes Reference, Oriwks, Orimks - Siemens sinumerik 840d Programming Manual

Transformations
7
7.1 Three, four and five-axes transformation: TRAORI
840D
NCU 572
NCU 573
7.1.2 Orientation axes reference, ORIWCS, ORIMCS
Programming
N.. ORIMCS
or
N.. ORIWCS
Explanation of the commands
ORIMCS
ORIWCS
Function
When programming orientation in the workpiece
coordinate system with Euler or RPY angles or
orientation vector, the turning movement can be set
via ORIMCS/ORIWCS.
Sequence
With ORIMCS, the tool movement depends on the
machine kinematics. On a change in orientation where
the tool tip is fixed in space, linear interpolation is
performed between the rotary axis positions.
With ORIWCS, the tool movement is performed
independently of the machine kinematics. On a
change in orientation where the tool tip is fixed in
space, the tool moves in the plane created from the
starting and end vectors.
7-228
840Di
Rotation in the machine coordinate system
Rotation in the workpiece coordinate system
SINUMERIK 840D/840Di/810D/FM-NC Programming Guide Advanced (PGA) − 04.00 Edition
Vector at
beginning of
block
Vector at
end of block
 Siemens AG 2000. All rights reserved
08.97
7
Plane created from
starting and end
vectors