Siemens SINUMERIK 840D sl Programming Manual page 270

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Table of Contents

Transformations

7.2 Three, four and five axis transformation (TRAORI)

Extended orientation interpolation with additional curve in space and polynomials for

N... ORICURVE

N... PO[XH]=(xe, x2, x3, x4, x5)

N... PO[YH]=(ye, y2, y3, y4, y5)

N... PO[ZH]=(ze, z2, z3, z4, z5)

Possible polynomials

PO[XH]=(xe, x2, x3, x4,

x5) PO[YH]=(ye, y2, y3,

y4, y5) PO[ZH]=(ze, z2,

Identifiers XH YH ZH for programming a second orientation path

The identifiers must be selected such that no conflict arises with the other identifiers or linear

and rotary axes such as

A2 B2 C2 Euler angle or RPY angle

A3 B3 C3 direction vectors

A4 B4 C4 or A5 B5 C5 surface normal vectors

A6 B6 C6 rotation vectors or A7 B7 C7 intermediate point coordinates

or other interpolation parameters.

Specification of the motion of the second

contact point of the tool and additional

polynomials of the coordinates in

Interpolation of the orientation specifying a movement

between two contact points of the tool

Identifiers of the coordinates of the second contact

point of the tool of the additional contour as a curve

Apart from using the appropriate end points, the curves

in space can also be programmed using polynomials.

End points of the curve in space

Coefficients of the polynomials up to the 5th degree

Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0

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