Orientations Relative To The Path; Orientation Types Relative To The Path - Siemens Sinumerik 840D sl Programming Manual

6.5

Orientations relative to the path

6.5.1

Orientation types relative to the path

Function
By using this expanded function, relative orientation is not only achieved at the end of the
block, but across the entire trajectory. The orientation achieved in the previous block is
transferred to the programmed end orientation using large-radius circular interpolation. There
are basically two ways of programming the desired orientation relative to the path:
1. Like the tool rotation, the tool orientation is interpolated relative to the path using
ORIPATH, ORPATHTS.
2. 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.
Syntax
The type of interpolation of the orientation and the rotation of the tool is programmed using:
N... ORIPATH
N... ORIPATHS
N... ORIROTC
An orientation blip caused by a corner on the trajectory can be smoothed using ORIPATHS.
The direction and path length of the retracting movement is programmed via the vector using
the components A8=X, B8=Y C8=Z.
ORIPATH/ORIPATHS can be used to program various references to the path tangent via the
three angles
• LEAD= Specification of lead angle relative to the path and surface
• TILT= Specification of tilt angle relative to the path and surface
• THETA= Angle of rotation
for the entire trajectory. Polynomials up to the 5th degree can be programmed in addition to
the THETA angle of rotation using PO[THT]=(...).
Job planning
Programming Manual, 02/2011, 6FC5398-2BP40-1BA0
6.5 Orientations relative to the path
Orientation relative to the path
Orientation relative to the path with smoothing of
orientation characteristic
Interpolation of the rotation vector relative to the
path
Transformations
359