Siemens SINUMERIK 840D sl Programming Manual page 328

Transformations
6.2 Three, four and five axis transformation (TRAORI)
ORICONIO
A7= B7= C7=
PHI
PSI
Possible polynomials
PO[PHI]=(a2, a3, a4, a5)
PO[PSI]=(b2, b3, b4, b5)
Example: Different changes to orientation
Program code
...
N10 G1 X0 Y0 F5000
N20 TRAORI(1)
N30 ORIVECT
...
N40 ORIPLANE
N50 A3=0 B3=0 C3=1
N60 A3=0 B3=1 C3=1
...
N70 ORICONCW
N80 A6=0 B6=0 C6=1 A3=0 B3=0 C3=1
N90 A6=0 B6=0 C6=1
Description
If changes of orientation along the peripheral surface of a taper anywhere in space are to be
described, the vector about which the tool orientation is to be rotated must be known. The
start and end orientation must also be specified. The start orientation results from the
previous block and the end orientation has to be programmed or defined via other
conditions.
328
Interpolation on the peripheral surface of a taper
Intermediate orientation (programming as normalized vector)
Angle of rotation of the orientation about the direction axis of
the taper
Opening angle of the taper
Apart from the different angles, polynomials can also be
programmed up to the
5th degree
Comment
; Orientation transformation on.
; Interpolate tool orientation as a
vector.
; Tool orientation in the plane.
; Select large-circle interpolation.
; Orientation in the Y/Z plane is rotated
through 45 degrees, orientation
(0,1/√2,1/√2) is reached at the end of
the block.
; Orientation programming on the outside
of the taper:
; The orientation vector is interpolated
on the outside of a taper with the
direction (0,0,1) up to the orientation
(1/√2,0,1/√2) in the clockwise sense,
the angle of rotation is 270 degrees.
; The tool orientation goes through a
full revolution on the outside of the
same taper.
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
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