Siemens Sinumerik 840D sl Programming Manual page 322

Transformations
6.1 General programming of transformation types
Orientation transformation
Three, four and five axis transformations (TRAORI)
For the optimum machining of surfaces configured in space in the working area of the
machine, machine tools require other axes in addition to the three linear axes X, Y and Z. The
additional axes describe the orientation in space and are called orientation axes in
subsequent sections. They are available as rotary axes on four types of machine with varying
kinematics.
1. Two-axis swivel head, e.g., cardanic tool head with one rotary axis parallel to a linear axis
on a fixed tool table.
2. Two-axis rotary table, e.g., fixed swivel head with tool table, which can rotate about two
axes.
3. Single-axis swivel head and single-axis rotary table, e.g., one rotatable swivel head with
rotated tool for tool table, which can rotate about one axis.
4. Two-axis swivel head and single-axis rotary table, e.g., on tool table, which can rotate
about one axis, and one rotatable swivel head with tool, which can rotate about itself.
3- and 4-axis transformations are special types of 5-axis transformation and are programmed
in the same way as 5-axis transformations.
The functional scope of "generic 3-/4-/5-/6-axis transformation" is suitable both for
transformations for orthogonal rotary axes and transformations for the universal milling head
and, like all other orientation transformations, can also be activated for these four machine
types with TRAORI. In generic 5-/6-axis transformation, tool orientation has an additional third
degree of freedom, whereby the tool can be rotated about its own axis relative to the tool
direction so that it can be directed as required in space.
References: /FB3/ Function Manual, Special Functions; 3- to 5-Axis Transformation (F2)
Initial tool orientation setting regardless of kinematics
ORIRESET
If an orientation transformation is active using TRAORI, then ORIRESET can be used to
specify the initial settings of up to 3 orientation axes with the optional parameters A, B, C. The
order in which the programmed parameters are assigned to the round axes depends on the
orientation axis order defined by the transformation. Programming ORIRESET(A, B, C)
results in the orientation axes moving in linear and synchronous motion from their current
position to the specified initial setting position.
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Programming Manual, 02/2011, 6FC5398-2BP40-1BA0
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