Programming Of Orientation Polynominals - Siemens SINUMERIK 840D sl Function Manual

F2: Multi-axis transformations
1.9 Orientation
Path relative interpolation of the rotation ORIROTC
With 6-axis transformations, in addition to the complete interpolation of the tool orientation
relative to the path and the rotation of the tool, there is also the option that only the rotation of
the tool relative to the path tangent is interpolated. The tool orientation can be programmed
and interpolated independently of this. This is activate by the G-code ORIROTC in the 54th G-
code group. Tool orientation direction can be programmed as usual with direction vectors,
Euler or RPY angle. Their interpolation method can be specified as usual with the G codes
ORIVECT, ORIAXES, ORICONxx, ORICURVE , see Chapter "Rotation of the Orientation
Vector".
1.9.6

Programming of orientation polynominals

Functionality
Orientation polynomials and even axis polynomials can be programmed with different types of
polynomials regardless of the type of polynomial interpolation currently active. This can be
applied to:
• Linear interpolation with G-code G01
• Polynomial interpolation with G-code POLY
• Circular interpolation with G-code G02, G03 or CIP
• Involute interpolation with G-code INVCW or INVCCW
This enables a number of polynomials to be programmed for one contour at the same time.
Note
For further information about programming axis polynomials with PO[X], PO[Y], PO[Z] and
orientation polynomials such as PO[PHI], PO[PSI], PO[THT] and PO[XH], PO[YH], PO[ZH],
please see:
References: /PGA/ Programming Manual Work Preparation
Two different types of orientation polynomials are defined:
1. Polynomials for angles with reference to the plane defined by the start and end orientation
(type 1 orientation polynomials).
2. Polynomials for curves in space on a reference point on the tool (type 2 orientation
polynomials).
Type 1 polynomials
Orientation polynomials of type 1 are polynomials for angles
PO[PHI]:
PO[PSI]:
96
in the plane between start and end orientation
describing the tilt of the orientation from the plane between start and end
orientation
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions