Siemens sinumerik 840D sl Function Manual page 116

Examples
4.5 Examples for orientation vectors
4.5 Examples for orientation vectors
4.5.1 Example for polynomial interpretation of orientation vectors
Orientation vector in Z-X plane
The orientation vector is programmed directly in the examples below. The resulting
movements of the rotary axes depend on the particular kinematics of the machine.
N10 TRAORI
N20 POLY
N30 A3=0 B3=0 C3=1
N40 A3=1 B3=0 C3=0
In N40, the orientation vector is rotated in the Z-X plane which is spanned by the start and
end vector. Here, the PHI angle is interpolated in a line in this plane between the values 0
and 90 degrees (large circle interpolation).
The additional specification of the polynomials for the two angle PHI and PSI means that the
interpolated orientation vector can lies anywhere between the start and end vector.
PHI angle using polynomial PHI
In contrast to the example above, the PHI angle is interpolated using the polynomial PHI(u) =
(90-10)u + 10*u
The angle PSI is not equal to zero and is interpolated according to the following polynomial:
PSI(u) = -10*u + 10*u
The maximum "tilt" of the orientation vector from the plane between the start and end vector
is obtained in the middle of the block (u = 1/2).
N10 TRAORI
N20 POLY
N30 A3=0 B3=0 C3=1
N40 A3=1 B3=0 C3=0
110
2 between the values 0 and 90 degrees.
2
2
; Polynomial interpolation is possible.
; Tool vector in +Z direction (start vector)
PO[PHI]=(10)
PO[PSI]=(10)
; Polynomial interpolation is possible.
; Tool vector in +Z direction (start vector)
; Orientation in +X direction (end vector)
; in +X direction (end vector)
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0