Siemens SINUMERIK 840D sl Function Manual page 111

The two PHI and PSI angles are specified in degrees.
POLY
POLYPATH ( )
The coefficients a
PO[PHI]=(a
a )
5
PO[PSI]=(b
b )
5
PL
Rotation of the orientation vector
Changes in orientation are possible with ORIVECT independent of the type of end vector
programming. The following situations apply:
Example 1: Components of end vectors are programmed directly.
N... POLY A3=a B3=b C3=c PO[PHI] = (a2, a3, a4, a5) PO[PSI] = (b2, b3, b4, b5)
Example 2: The end vector is determined by the position of the rotary axes.
N... POLY Aa Bb Cc PO[PHI] = (a2, a3, a4, a5) PO[PSI] = (b2, b3, b4, b5)
The angle PHI describes the rotation of the orientation vector in the plane between the start
and end vectors (large circle interpolation, see Figure Rotation of the Orientation Vector in the
Plane between Start and End Vector). The orientation is interpolated exactly as in Example 1,
Figure 1-21
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Activation of polynomial interpolation for all axis groups.
Activation of polynomial interpolation for all axis groups. "AXES" and
"VECT" are possible groups.
and b are specified in degrees.
n n
, a , a ,
The angle PHI is interpolated according to PHI(u) = a
2 3 4
3
+ a *u + a *u
3 4
, b , b ,
The angle PHI is interpolated according to PSI(u) = b
2 3 4
3
+ b *u + b *u
3 4
Length of the parameter interval where polynomials are defined. The
interval always starts at 0.
Theoretical value range for PL: 0,0001 ... 99999,9999.
The PL value applies to the block that contains it. PL=1 is applied if
no PL value is programmed.
Rotation of the orientation vector in the plane between start and end vector
4 5
+ a *u .
5
4 5
+ b *u .
5
F2: Multi-axis transformations
1.11 Orientation vectors
+ a *u + a
0 1
+ b *u + b
0 1
2
*u
2
2
*u
2
111