Orientation Vectors; Polynomial Interpolation Of Orientation Vectors - Siemens SINUMERIK 840D sl Function Manual

F2: Multi-axis transformations

2.11 Orientation vectors

Parameterization
The modulo display of orientation axes is activated as follows:
MD21132 $MC_ORI_DISP_IS_MODULO[0...2] = TRUE
The modulo range is defined with the help of the following machine data:
● MD21134 $MC_ORI_MODULO_RANGE[0...2]
(Size of the modulo range for the display of the orientation axes)
● MD21136 $MC_ORI_MODULO_RANGE_START[0...2]
(Starting position of the modulo range for the display of the orientation axes)
Please note the following:
● The machine data becomes effective with NewConfig.
● The machine data does not have any influence or effects on:
– any axis positions that can be programmed for these axes.
– The traversing movements of these axes.
– The display of the MCS values of these axes
2.11 Orientation vectors
2.11.1

Polynomial interpolation of orientation vectors

Programming of polynomials for axis motions
The rotary axes are normally subjected to linear interpolation in case of orientation changes
with the help of rotary axis interpolation. 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:
Reference:
Programming Manual; Production Planning
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 is active: The programmed polynomials are interpolated as polynomials.
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Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions