Siemens sinumerik 840D sl Function Manual page 97

The other programming options must be excluded in this case, since the definition of an
absolute direction of rotation conflicts with the interpretation of the angle of rotation in these
cases. Possible programming combinations are monitored and an alarm is output if
applicable.
A rotation can also be programmed in a separate block without an orientation change taking
place. In this case ORIROTR and ORIROTT are irrelevant. In this case the angle of rotation is
always interpreted with reference to the absolute direction (ORIROTA).
A programmable rotation of the orientation vector is only possible when an orientation
transformation (TRAORI) is active.
A programmed orientation rotation is only interpolated if the machine kinematics allow
rotation of the tool orientation (e.g. 6-axis machines).
2.10.3 Extended interpolation of orientation axes
Functionality
To execute a change in orientation along the peripheral surface of a cone located in space, it
is necessary to perform an extended interpolation of the orientation vector. The vector
around which the tool orientation is to be rotated must be known. The start and end
orientation must also be specified. The start orientation is given by the previous block and
the en orientation must either be programmed or defined by other conditions.
Figure 2-18
Required definitions
Generally, the following data are required:
• The start orientation is defined by the end orientation of the previous block.
• The end orientation is defined either by specifying the vector (with A3, B3, C3), the Euler
• The rotary axis of the taper is programmed as a (normalized) vector with A6, B6, C6.
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0
Change in orientation of the peripheral surface of a cone located in space
angles or RPY angles (with A2, B2, C2) or by programming the positions of the rotary
axis (with A, B, C).
Detailed description
2.10 Orientation vectors
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