Siemens Sinumerik 840D sl Programming Manual page 357

6.4 Rotations of the tool orientation (ORIROTA, ORIROTR, ORIROTT, ORIROTC, THETA)
Significance
ORIROTA
ORIROTR
ORIROTT
ORIROTC
THETA
THETA=value
THETA=Θe
THETA=AC(...)
THETA=AC(...)
Θe
PO[THT]=(....)
Example of rotations of orientations
Program code
N10 TRAORI
N20 G1 X0 Y0 Z0 F5000
N30 A3=0 B3=0 C3=1 THETA=0
N40 A3=1 B3=0 C3=0 THETA=90
N50 A3=0 B3=1 C3=0 PO[THT]=(180,90)
N60 A3=0 B3=1 C3=0 THETA=IC(-90)
N70 ORIROTT
N80 A3=1 B3=0 C3=0 THETA=30
When interpolating block
N40, the angle of rotation from initial value of 0 degrees to final value of 90 degrees is
interpolated linearly. In block N50, the angle of rotation changes from 90 degrees to 180
degrees, according to
parabola θ(u) = +90u
orientation taking place.
With N80, the tool orientation is rotated from the Y direction toward the X direction. The
change in orientation takes place in the X/Y plane and the rotation vector describes an angle
of 30 degrees to this plane.
Job planning
Programming Manual, 02/2011, 6FC5398-2BP40-1BA0
Angle of rotation to an absolute direction of rotation.
Angle of rotation relative to the plane between the start and end
orientation.
Angle of rotation as a tangential rotation vector to the change of orientation
Angle of rotation as a tangential rotation vector to the path tangent
Rotation of the orientation vector
Angle of rotation in degrees reached by the end of the block
Angle of rotation with end angle Θ
Non-modal switchover to absolute dimensions
Non-modal switchover to incremental dimensions
End angle of rotational vector both absolute with G90 and relative with
G91 (incremental dimensioning) is active
Polynomial for angle of rotation
2
. In N60, a rotation can also be executed without a change in
of rotation vector
e
Comments
; Activate orientation transformation
; Tool orientation
; In Z direction with angle of rotation 0
; In X direction and rotation about 90 degrees
; Orientation
; In Y direction and rotation about 180
degrees
; Remains constant and rotation to 90 degrees
; Angle of rotation relative to change of
orientation
; Rotation vector in angle 30 degrees to X/Y
plane
Transformations
357