Siemens SINUMERIK 840D sl Function Manual page 97

1: Current tool direction (z coordinate) and orientation change (x coordinate)
2: Active plane (z coordinate is normal vector to the active plane) and orientation change (x
coordinate)
Smoothing of the orientation jump ORIPATHS
Smoothing of the orientation jump is done within the setting data SD42670
$SC_ORIPATH_SMOOTH_DIST (path distance to smoothing orientation) of the specified
path. The programmed reference of the orientation to the path tangent and normal vector is
then no longer maintained within this distance. If this distance is set too small, the path velocity
may have to be reduced significantly.
A velocity jump of the orientation axes can also be smoothed. In the case where the orientation
path does not perform a jump, but whose first derivation is not smooth, the resulting velocity
jump can be smoothed. The setting data SD42672 $SC_ORIPATH_SMOOTH_TOL > 0
(tolerance for smoothing the orientation) is used to specify how much the orientation may
deviate from the "tangential" alignment. This orientation smoothing is only performed if G code
ORIPATHS ORIPATHS is active and setting data SD42672 SC_ORIPATH_SMOOTH_TOL >
0.
Insertion of intermediate blocks for the smoothing of the orientation path
If the following setting data is set, a separate intermediate block is inserted for the smoothing
of the orientation path:
SD42670 $SC_ORIPATH_SMOOTH_DIST = 0.0 (path distance for smoothing the orientation)
This means that the path motion then stops at the corner of the contour and only then the jump
in the tool orientation is executed. The orientation change is then only performed with with
continuous acceleration when ORIPATHS is active. Otherwise the orientation is transferred
from the start orientation to the end orientation by means of linear large circle interpolation.
Execute tool retracting movement
A tool retracting movement can be performed during this re-orientation. The direction and path
length of the retracting movement is programmed via the vector using the components A8=x,
B8=y and C8=z. If the length of this vector is exactly zero, no retracting movement is executed.
In which coordinate system the tool retracting vector is interpreted, depends on the value of
the following machine data:
MD21094 $MC_ORIPATH_MODE (setting for path relative orientation ORIPATH)
This specifies in which coordinate system the retracting vector is interpreted.
1. Tool coordinate system: z coordinate defined by current tool direction.
2. Workpiece coordinate system: z coordinate defined by active plane.
Normally the retracting movement is performed simultaneously to the orientation change. A
factor can be programmed with the identifier ORIPLF = r , which defines a "safety clearance".
In this way, tool orientation only changes when the tool has retracted by r * retraction path.
The programmed retraction factor must be in the interval 0 = r 1, in order to avoid alarm 14126.
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
F2: Multi-axis transformations
2.9 Orientation
97