Siemens SINUMERIK 840D sl Programming Manual page 278

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Transformations

7.5 Orientations relative to the path

Tool orientation relative to the path

Angle of rotation THETA

A 6-axis transformation is required to rotate a tool with a third rotary axis that acts as an

orientation axis about itself.

Tool orientation relative to the path

Tool orientation relative to the path; blip in

orientation characteristic is smoothed

Angle relative to the surface normal vector in the plane

that is defined by the path tangent and the surface

normal vector

Rotation of orientation in the Z direction or rotation

about the path tangent

Rotation about the tool direction toward Z

Orientation polynomial for the LEAD angle

Orientation polynomial for the TILT angle

Orientation polynomial for the THETA angle of rotation

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

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