Siemens sinumerik 840D sl Function Manual page 89

2.10 Orientation vectors
2.10.1 Polynomial interpolation of orientation vectors
Polynomial programming for axis motion
In the case of a change in orientation using rotary axis interpolation, linear interpolation
normally takes place in the rotary axes. However, it is also possible to program the
polynomials as usual for the rotary axes. This allows a generally more homogeneous axis
motion to be produced.
Note
Further information about programming polynomial interpolation with POLY and on
interpolation of orientation vectors is given in:
References: /PGA/ Programming Manual, Work Preparation
A block with POLY is used to program polynomial interpolation. Whether the programmed
polynomials are then interpolated as polynomial, depends on whether the G-code POLY is
active or not.
• The G-code ist not active: The programmed axis end points are traversed linearly.
• The G-code ist active: The programmed polynomials are interpolated as polynomials.
MD10674
If machine data MD10674 $MN_PO_WITHOUT_POLY = FALSE
(polynomial programming without G-function POLY programmable) it can be specified,
whether the follwoing programming is possible:
• PO[...] bzw. PO(...) is possible only if POLY is active, or
• PO[ ] or PO( ) polynomials are also possible without active G-code POLY.
By default MD 10674 is: PO_WITHOUT_POLY = FALSE set and with MD10674
$MN_PO_WITHOUT_POLY = TRUE the following programming is always possible:
• PO[...] = (...), regardless of whether POLY is active or not.
Orientation polynomials can be programmed in conjunction with different interpolation types
and are described in Chapter "Programming of Orientation Polynomials".
POLYPATH
In addition to the modal G function POLY, the predefined subprogram
POLYPATH(argument) can be used to activate polynomial interpolation selectively for
different axis groups. The following arguments are permissible for activation of the
polynomial interpolation:
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0
Detailed description
2.10 Orientation vectors
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