Siemens SINUMERIK 840DE Programming Manual page 420

Tables
12.1 List of statements
ORID Orientation changes are performed before the
6
circle block (orientation change
discontinuously)
ORIAXPOS Orientation angle via virtual orientation axes
with rotary axis positions
ORIEULER Orientation angle via Euler angle
ORIAXES Linear interpolation of machine axes or
orientation axes
ORICONCW Interpolation on a circular peripheral surface
in CW direction
ORICONCCW Interpolation on a circular peripheral surface
in CCW direction
ORICONIO Interpolation on a circular peripheral surface
with intermediate orientation setting
ORICONTO Interpolation on a circular peripheral surface
in tangential transition
ORICURVE Interpolation of orientation with specification
of motion of two contact points of tool
ORIPLANE Interpolation in a plane (corresponds to
ORIVECT) large-radius circular interpolation
ORIPATH Tool orientation trajectory referred to path
ORIROTA Angle of rotation to an absolute direction of
rotation.
ORIROTR Angle of rotation relative to the plane between
the start and end orientation.
ORIROTT Angle of rotation relative to the change in the
orientation vector.
ORIRPY Orientation angle via RPY angle
ORIS Orientation modification
5
(orientation smoothing factor)
ORIVECT Large-radius circular interpolation (identical to
ORIPLANE)
ORIVIRT1 Orientation angle via virtual orientation axes
(definition 1)
ORIVIRT2 Orientation angle via virtual orientation axes
(definition 1)
ORIMKS Tool orientation in the machine coordinate
6
system
ORIWKS Tool orientation in the workpiece coordinate
1,6
system
12-14
Final orientation:
Vector
specification A3,
B3, C3, or
Euler/RPY angle
A2, B2, C2
Additional
inputs:
Rotational
vectors
A6, B6, C6
Aperture angle
of cone in
degrees 0 <
SLOT <180
degrees
Intermediate
vectors: A7, B7,
C7
contact point of
tool: XH, YH,
ZH,
Transformation
package
handling, see
/FB/, TE4
Real Referring to the
path
Programming Manual, 10.2004 Edition, 6FC5 298-7AB00-0BP1
Parameter settings as
follows:
Direction vectors
normalized A6=0 B6=0
C6=1
Aperture angle
implemented as travel
angle with
SLOT=...
SLOT=+... at ≤ 180
degrees
SLOT= -... at ≥ 180
degrees
Intermediate orientation
normalized A7=0 B7=0
C7=1
m 27
m 50
m 50
m 51
m 51
m 51
m 51
m 51
m 51
m 51
m 51
m 54
m 54
m 54
m 50
m
m 51
m 50
m 50
m 25
m 25
Fundamentals