Restrictions For Kinematics And Interpolation - Siemens SINUMERIK 840DE sl Function Manual

F2: Multi-axis transformations

3.8 Restrictions for kinematics and interpolation

SD42660 $SC_ORI_JOG_MODE = <value>
For further explanations regarding orientation motion (see Chapter "Orientation (Page 191)"
and "Orientation axes (Page 212)").
Note
For further information on programming the rotations, see:
Further information
Programming Manual Advanced; Transformations
3.8 Restrictions for kinematics and interpolation
3.8.1 Restrictions for kinematics and interpolation
For systems where there are less than six axes available for transformation, the following
restrictions must be taken into account.
5-axis kinematics
For 5-axis kinematics there are two degrees of freedom for orientation. The assignment of
orientation axes and tool vector direction must be selected so that there is no rotation around
the tool vector. As a result, only two orientation angles are required to describe the orientation.
If the axis is traversed using ORIVECT, the tool vector performs pure swiveling motion.
3-and 4-axis kinematics
For 3- and 4-axis kinematics, only one degree of freedom is available for orientation. The
respective transformation determines the relevant orientation angle. In this case, it only makes
sense to traverse the orientation axis using ORIAXES. In this case, the orientation axis is
directly and linearly interpolated.
188
Value Meaning
0 The virtual kinematics are defined using transformation
1 Rotation with Euler angles: Rotation sequence, ZX'Z'' convention:
2 Rotation with Euler angles: XY'Z'' convention (RPY angle)
3 Rotation with Euler angles: Rotation sequence ZY'X'' convention (RPY angles)
4 Defining the rotation sequence using: MD21120 $MC_ORIAX_TURN_TAB_1
5 Defining the rotation sequence using: MD21130 $MC_ORIAX_TURN_TAB_2
Function Manual, 06/2019, A5E47435470B AA
Transformations