Orientation Polynomials (Po[Angle], Po[Coordinate]) - Siemens SINUMERIK 840D sl Programming Manual

Note
Identifiers XH YH ZH for programming a second orientation path
The identifiers must be selected such that no conflict arises with the other identifiers or linear
axes
X Y Z axes
and rotary axes such as
A2 B2 C2 Euler angle or RPY angle
A3 B3 C3 direction vectors
A4 B4 C4 or A5 B5 C5 surface normal vectors
A6 B6 C6 rotation vectors or A7 B7 C7 intermediate point coordinates
or other interpolation parameters.
6.3

Orientation polynomials (PO[angle], PO[coordinate])

Function
Irrespective of the polynomial interpolation from G-code group 1 that is currently active, two
different types of orientation polynomial can be programmed up to the 5th degree for a 3-axis
to 5-axis transformation.
1. Polynomials for angles: lead angle LEAD, tilt angle TILT
2. Polynomials for coordinates: XH, YH, ZH of the second curve in space for the tool
With a 6-axis transformation, the rotation of rotation vector THT can be programmed with
polynomials up to the 5th degree for rotations of the tool itself, in addition to the tool
orientation.
Syntax
Type 1 orientation polynomials for angles
N... PO[PHI]=(a2, a3, a4, a5)
N... PO[PSI]=(b2, b3, b4, b5)
Job Planning
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
in relation to the plane that is defined by the start and end orientation.
orientation of a reference point on the tool.
6.3 Orientation polynomials (PO[angle], PO[coordinate])
3-axis to 5-axis transformation
Transformations
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