Movement Control Commands
3.1 The coordinate system
04.07
3-58
© Siemens AG 2007 All rights reserved
SINUMERIK 802D sl/840D/840D sl/840Di/840Di sl/810D ISO Milling (PGM) -- 04.07 Edition
3.1.11 3D rotation G68 / G69
G code G68 has been expanded for 3D rotation.
Format
G68 X.. Z.. I.. J.. K.. R..
X.. Y.. Z..: Coordinates of the pivot point related to the current workpiece
zero. If a coordinate is not programmed the pivot point is at the
workpiece zero. The coordinates of the pivot point act like a zero
offset.
I.. J.. K..: Vector in the pivot point. The coordinate system is rotated about
this vector by the angle R.
R..: Angle of rotation, always interpreted as an absolute value. If an
angle is not programmed, the angle from setting data 42150
$SA_DEFAULT_ROT_FACTOR_R is active.
G68 must be in a block of its own. A G90/91 in the block has no effect on the G68
command.
Explanations
The distinction between 2D and 3D rotation is determined solely by programming
the vector I, J, K. If no vector exists in the block, G68 2DRot is selected. If a vector
exists in the block, G68 3DRot is selected.
If a vector of length 0 (I0, Y0, K0) is programmed, the alarm 12560 ”programmed
value %3 exceeds allowed limits” is output.
With G68, two rotations cn be connected in series. If a G68 is not already active in
a block containing G68, the rotation is written into channel--specific base frame 2.
If G68 is already active, the rotation is written in channel--specific base frame 3.
This means that both rotations are activated in sequence. For this purpose, ma-
chine data $MC_MM_NUM_BASE_FRAMES = 4 must be set.
Note
For incoupling the frames between the Siemens and the ISO modes (solution line)
see section 3.1.6.
With G69, 3D rotation is terminated. If two rotations are active, they are both deac-
tivated with G69. G69 does not have to be in a block of its own.
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