Programming Of Orientation Polynominals - Siemens SINUMERIK 840DE sl Function Manual

F2: Multi-axis transformations
3.9 Orientation
Path-relative interpolation of the rotation (ORIROTC)
For 6-axis transformations, in addition to the path-relative interpolation of all of the components
of the tool orientation (rotation around each of the three axes of rotation), using ORIROTC it is
possible that only the rotation of the tool around the orientation vector relative to the path
tangent is interpolated.
The orientation vector can still be programmed with direction components or via Euler or RPY
angle - and the interpolation type defined using ORIVECT, ORIAXES, ORICONxx, ORICURVE
(see Chapter "Rotations of orientation vector (Page 223)").
3.9.6

Programming of orientation polynominals

Function
Orientation polynomials and even axis polynomials can be programmed with different types of
polynomials regardless of the type of polynomial interpolation currently active. This can be
applied to:
● Linear interpolation with G command G01
● Polynomial interpolation with G command TERMINAL
● Circular interpolation with G command G02, G03 or CIP
● Involute interpolation with G command INVCW or INVCCW
This enables a number of polynomials to be programmed for one contour at the same time.
Note
For additional information about programming axis polynomials with PO[X], PO[Y], PO[Z] and
orientation polynomials such as PO[PHI], PO[PSI], PO[THT] and PO[XH], PO[YH], PO[ZH],
see:
Further information
Programming Manual Production Planning
Two different types of orientation polynomials are defined:
● Polynomials for angles with reference to the plane defined by the start and end orientation
(type 1 orientation polynomials)
● Polynomials for coordinates in space of a reference point on the tool (type 2 orientation
polynomials).
Type 1 polynomials
Orientation polynomials of type 1 are polynomials for angles
PO[PHI]:
PO[PSI]:
206
Angle in the plane between start and end orientation
Angle describing the tilt of the orientation from the plane between start and end
orientation
Function Manual, 06/2019, A5E47435470B AA
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