Siemens sinumerik 840d Programming Manual page 231

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MD $MC_ORI_DEF_WITH_G_CODE specifies how the

programmed angles A2, B2 and C2 are defined:

Definition according to MD $MC_ORIENTATION_IS_EULER

(standard) or

definition according to G_group 50

(ORIEULER, ORIRPY, ORIVIRT1, ORIVIRT2).

MD $MC_ORI_IPO_WITH_G_CODE defines which

interpolation type is active:

ORIWCS/ORIMCS or ORIAXES/ORIVECT.

In this mode, the interpolation of the orientation

angles is always linear. During continuous and

incremental traversing via traversing keys, only one

orientation axis can be traversed. Using the

handwheels both orientation axes can be traversed

at the same time.

For manual traversal of orientation axes, the

channel-specific feedrate override switch or the rapid

traverse override switch are active with rapid

traverse override.

A separate velocity can be specified with the

following machine data:

$MC_JOG_VELO_RAPID_GEO

$MC_JOG_VELO_GEO

$MC_JOG_VELO_RAPID_ORI

$MC_JOG_VELO_ORI

SINUMERIK 840D/840Di/810D/FM-NC Programming Guide Advanced (PGA) − 04.00 Edition

7.1 Three, four and five-axes transformation: TRAORI

Transformations

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