Siemens SINUMERIK 840D sl Programming Manual page 316

Transformations
6.2 Three, four and five axis transformation (TRAORI)
The type of orientation programming is defined in G code group 50:
G function
ORIEULER
ORIRPY
ORIVIRT1
ORIVIRT2
ORIAXPOS
ORIPY2
Note
The machine manufacturer can use machine data to define various variants. Please refer to
the machine manufacturer's instructions.
Programming in Euler angles ORIEULER
The values programmed during orientation programming with
Euler angles (in degrees).
The orientation vector results from turning a vector in the Z direction firstly with
Z axis, then with
In this case the value of
have to be programmed.
316
Orientation programming
Via Euler angle
Via RPY angle (rotation sequence ZYX)
Via virtual orientation axes (definition 1)
Via virtual orientation axes (definition 2)
Via virtual orientation axes with rotary axis positions
Via RPY angle (rotation sequence XYZ)
around the new X axis and lastly with
B2
(rotation around the new Z axis) is meaningless and does not
C2
A2, B2, C2
around the new Z axis.
C2
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
are interpreted as
around the
A2
Job Planning