Siemens SINUMERIK 840DE sl Function Manual page 215

Machine data MD21102 $MC_ORI_DEF_WITH_G_CODE (definition of ORI axes via G
command) is used to specify whether MD21100 $MC_ORIENTATION_IS_EULER (angle
definition for orientation programming) is active (default) or G group 50.
The following four variants are available for programming orientation:
1. A, B, C:
Machine axis parameter designation
2. A2, B2, C2:
Angle programming of virtual axes
3. A3, B3, C3:
Vector component designation
4. LEAD, TILT:
Specification of lead and side angles with reference to path and surface
Further information
Programming Manual Fundamentals
Note
The four variants of orientation programming are mutually exclusive. If mixed values are
programmed, alarm 14130 or alarm 14131 is generated.
Exception:
For 6 axis kinematics with a 3rd degree of freedom for orientation, C2 may also be programmed
for variants 3 and 4. C2 in this case describes the rotation of the orientation vector about its own
axis.
Example
For orientation axes for kinematics with 6 or 5 transformed axes, see Section "Example for
orientation axes (Page 240)".
Interpolation type
The following machine data is used to specify which interpolation type is used:
MD21104 $MC_ORI_IPO_WITH_G_CODE (G command for orientation interpolation):
● ORIMKS or ORIWKS
● G group 51 with the commands ORIAXES or ORIVECT
– ORIAXES:
– ORIVECT:
Transformations
Function Manual, 06/2019, A5E47435470B AA
Linear interpolation of machine axes or orientation axes.
Orientation is controlled by the orientation vector being swiveled in the plane spanned by
the start and end vectors (large circle interpolation). With 6 transformation axes a
rotation around the orientation vector is executed in addition to the swivel movement.
With ORIVECT the orientation axes are always traversed on the shortest possible path.
F2: Multi-axis transformations
3.10 Orientation axes
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