Programming The Tool Orientation (A - Siemens SINUMERIK 840D sl Programming Manual

Examples of machine kinematics CA (channel axis names C, A)
Commands
ORIRESET(90, 45)
ORIRESET(, 30)
ORIRESET( )
Examples of machine kinematics CAC (channel axis names C, A, B)
Commands
ORIRESET(90, 45, 90)
ORIRESET( )
Note
Travel to the initial state of the tool orientation with ORIRESET...) may only take place with
active orientation transformation TRAORI...).
Programming LEAD, TILT and THETA rotations
Lead angle LEAD and tilt angle TILT.
In respect of three- to five-axis transformation, tool orientation rotations are programmed with
the LEAD and TILT angles.
Angle of rotation THETA
For a transformation with third rotary axis, the rotation of the tool about itself can be
programmed with the THETA rotary angle both for orientation with vector components as well
as for programming the angles LEAD, TILT.
3.9.2.4 Programming the tool orientation (A..., B..., C..., LEAD, TILT)
The following options are available when programming tool orientation:
1. Direct programming the motion of rotary axes. The change of orientation always occurs in
the basic or machine coordinate system. The orientation axes are traversed as
synchronized axes.
2. Programming in Euler or RPY angles in accordance with angle definition using A2, B2,
C2
3. Programming the direction vector using A3, B3, C3 The direction vector points from the
tool tip toward the tool adapter.
NC programming
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
Description
Axis C: 90°
Axis A: 45°
Axis C: $MC_TRAFO5_ROT_AX_OFFSET_1/2[0]
Axis A: 30°
Axis C: $MC_TRAFO5_ROT_AX_OFFSET_1/2[0]
Axis A: $MC_TRAFO5_ROT_AX_OFFSET_1/2[1]
Description
Axis C: 90°
Axis A: 45°
Axis B: 90°
Axis C: $MC_TRAFO5_ROT_AX_OFFSET_1/2[0]
Axis A: $MC_TRAFO5_ROT_AX_OFFSET_1/2[1]
Axis B: $MC_TRAFO5_ROT_AX_OFFSET_1/2[2]
Work preparation
3.9 Transformations
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