Siemens SINUMERIK 840D sl Programming Manual page 398

Transformations
6.5 Orientations relative to the path
Note
Interpolation of the rotation vector ORIROTC
Initiating rotation of the tool relative to the path tangent in the opposite direction to the tool
orientation, is only possible with a 6-axis transformation.
With active ORIROTC
Rotation vector ORIROTA cannot be programmed. If programming is undertaken, ALARM
14128 "Absolute programming of tool rotation with active ORIROTC" is output.
Orientation direction of the tool for 3-axis to 5-axis transformation
The orientation direction of the tool can be programmed via Euler angles, RPY angles or
direction vectors as with 3-axis to 5-axis transformations. Orientation changes of the tool in
space can also be achieved by programming the large-radius circular interpolation
ORIVECT, linear interpolation of the orientation axes ORIAXES, all interpolations on the
peripheral surface of a taper ORICONxx, and interpolation in addition to the curve in space
with two contact points of the tool ORICURVE.
G....
X Y Z
ORIAXES
ORIVECT
ORIMKS
ORIWKS
A= B= C=
ORIEULER
ORIRPY
398
Details of the rotary axis motion
Details of the linear axes
Linear interpolation of machine or orientation axes
Large-radius circular interpolation (identical to ORIPLANE)
Rotation in the machine coordinate system
Rotation in the workpiece coordinate system
Description, see the Rotations of the tool orientation section
Programming the machine axis position
Orientation programming via Euler angle
Orientation programming via RPY angle
Programming Manual, 06/2009, 6FC5398-2BP20-0BA0
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