Siemens SINUMERIK 840D sl Function Manual page 93

orientation jump should be smoothed in a dedicated, inserted intermediate block. In this
case, path motion is stopped in the contour corner.
• There are two options of 6-axis transformations:
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Activate orientation relative to the path
The extended function "Orientation relative to the path" is activated with the following
machine data:
MD21094 $MC_ORIPATH_MODE > 0 (setting for path relative orientation ORIPATH)
The tool orientation relative to the path is activated in the part program by programming
ORIPATH. A kink in the orientation path, e.g. as can occur at a corner in the contour, can be
smoothed with ORIPATH.
Orientation at block transition
In case of the following machine data, tool orientation is always continuous at a block
transition:
MD21094 $MC_ORIPATH_MODE = 0
With the following machine data a jump in tool orientation can occur at a block transition:
MD21094 $MC_ORIPATH_MODE > 0
A jump in orientation always occurs when either the path tangent or the surface normal vector
does not change smoothly at a block transition.
Deviation from the desired orientation
During the interpolation of the block, the orientation may deviate more or less from the
desired relative orientation. The orientation achieved in the previous block is transferred to
the programmed end orientation using large circule interpolation. The resulting deviation from
the desired relative orientation has two main causes:
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Like tool rotation, tool orientation is interpolated relative to the path using ORIPATH,
ORIPATHS.
The orientation vector is programmed and interpolated in the usual manner. The
rotation of the orientation vector is initiated relative to the path tangent using ORIROTC.
Note
Orientation relative to the path interpolation with ORIPATH or ORIPATHS and
ORIROTC, can not be used in conjunction with the function "Orientation smoothing".
Fot this OSOF must be active in the parts program. Otherwise alarm 10980
"Orientation smoothing not possible" is generated.
F2: Multi-axis transformations
1.9 Orientation
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