Transformations
7.2 Three, four and five axis transformation (TRAORI)
Job planning
Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
7-27
Description
Machine manufacturer
MD $MC_ORI_DEF_WITH_G_CODE specifies how the programmed angles A2, B2, C2 are
defined:
The definition is made using MD $MC_ORIENTATION_IS_EULER (standard) or the
definition is made using G group 50 (ORIEULER, ORIRPY, ORIVIRT1, ORIVIRT2).
MD $MC_ORI_IPO_WITH_G_CODE specifies which interpolation mode is active:
ORIWKS/ORIMKS or ORIAXES/ORIVECT.
JOG mode
Interpolation for orientation angles in this mode of operation is always linear. During
continuous and incremental traversal via the traversing keys, only one orientation axis can
be traversed. Orientation axes can be traversed simultaneously using the handwheels.
For manual travel of the orientation axes, the channel-specific feed override switch or the
rapid traverse override switch work at rapid traverse override.
A separate velocity setting is possible with the following machine data:
$MC_JOG_VELO_RAPID_GEO
$MC_JOG_VELO_GEO
$MC_JOG_VELO_RAPID_ORI
$MC_JOG_VELO_ORI
The Cartesian manual travel function can be used in JOG operation for
SINUMERIK 840D power line and 840D solution line with "Handling transformation package"
and
Sinumerik 810D power line to set the translation of geometric axes in the MCS, WCS and
TCS reference systems independently of each other.
References
/FB2/ Description of Functions Extended Functions; Kinematic Transformation (M1)
7.2.8 Orientation programming along the peripheral surface of a taper (ORIPLANE,
ORICONxx)
Function
With extended orientation it is possible to execute a change in orientation along the
peripheral surface of a taper in space. The orientation vector is interpolated on the peripheral
surface of a taper using the ORICONxx modal command. The end orientation can be
programmed with ORIPLANE for interpolation on a plane. The start orientation is usually
defined by the previous blocks.
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