Siemens SINUMERIK 840D sl Programming Manual page 334

Transformations
6.4 Rotations of the tool orientation (ORIROTA, ORIROTR, ORIROTT, ORIROTC, THETA)
Syntax
Only if interpolation type ORIROTA is active can the angle of rotation or rotation vector be
programmed in all four modes as follows:
1. Directly as rotary axis positions
2. Euler angles (in degrees) with
3. RPY angles (in degrees) with
4. Direction vector via
If ORIOTR or ORIOTT is active, the angle of rotation can only be programmed directly with
THETA
A rotation can also be programmed in a separate block without an orientation change taking
place. In this case, ORIROTR and ORIROTT are irrelevant. In this case, the angle of rotation
is always interpreted with reference to the absolute direction (ORIROTA).
N... ORIROTA
N... ORIROTR
N... ORIROTT
N... ORIROTC
N... A3= B3= C3= THETA=<value>
N... PO[THT]=(d
Meaning
ORIROTA
ORIROTR
ORIROTT
ORIROTC
THETA
THETA=<value>
THETA=Θe
THETA=AC(...)
THETA=AC(...)
:
Θe
PO[THT]=(....)
334
A3, B3, C3
.
, d , d , d
2 3 4
: Angle of rotation to an absolute direction of rotation
: Angle of rotation relative to the plane between the start and end
orientation
: Angle of rotation as a tangential rotation vector to the change of
orientation
: Angle of rotation as a tangential rotation vector to the path tangent
: Rotation of the orientation vector
: Angle of rotation in degrees reached by the end of the block
: Angle of rotation with end angle Θ
: Non-modal switchover to absolute dimensions
: Non-modal switchover to incremental dimensions
End angle of rotational vector both absolute with G90 and relative
with G91 (incremental dimensioning) is active
: Polynomial for angle of rotation
A, B, C
A2, B2, C2
A2, B2, C2
(angle of rotation using
Define the interpolation of the rotation vector
Define the rotation of the orientation vector
Interpolate angle of rotation with a 5th order
)
5
polynomial
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
)
THETA=<value>
of rotation vector
e
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