Siemens SINUMERIK 810D - Page 628

Tables
15.1 List of statements
Job planning
15-24 Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
ORIC
1,6
Orientation changes at outside corners are
superimposed on the circle block to be
inserted (orientation change continuously)
m 27
ORID
6
Orientation changes are performed before
the circle block (orientation change
discontinuously)
m 27
ORIAXPOS Orientation angle via virtual orientation
axes with rotary axis positions
m 50
ORIEULER Orientation angle via Euler angle m 50
ORIAXES Linear interpolation of machine axes or
orientation axes
m 51
ORICONCW Interpolation on a circular peripheral
surface in CW direction
m 51
ORICONCCW Interpolation on a circular peripheral
surface in CCW direction
m 51
ORICONIO Interpolation on a circular peripheral
surface with intermediate orientation
setting
m 51
ORICONTO Interpolation on circular peripheral surface
in tangential transition
(final orientation)
m 51
ORICURVE Interpolation of orientation with
specification of motion of two contact
points of tool
m 51
ORIPLANE Interpolation in a plane
(corresponds to ORIVECT)
Final orientation:
Vector
specification
A3, B2, C2
Additional inputs:
Rotational
vectors
A6, B6, C6
Arc angle of taper
in degrees:
0<SLOT<180
deg.
Intermediate
vectors: A7, B7,
C7
contact point of
tool: XH, YH, ZH
Parameter settings as
follows:
Direction vectors
normalized A6=0, B6=0,
C6=0
Opening angle
implemented as travel
angle with SLOT=...
SLOT=+... at ≤ 180
degrees SLOT = -... at ≥
180 degrees
Intermediate orientation
normalized A7=0 B7=0
C7=1
m 51
ORIPATH Tool orientation trajectory relative to the
path
Transformation
package
handling, see
/FB/, TE4
m 51
ORIPATHS Tool orientation relative to the path, blips in
the orientation characteristic are smoothed
Relative to the
path as a whole
m 51
ORIROTA Angle of rotation to an absolute direction of
rotation
m 54
ORIROTC Tangential rotational vector in relation to
path tangent
In relation to path
tangent
m 54
ORIROTR Angle of rotation relative to the plane
between the start and end orientation.
m 54
ORIROTT Angle of rotation relative to the change in
the orientation vector.
m 54
ORIRPY Orientation angle via RPY angle (rotation
sequence XYZ)
m 50
ORIRPY2 Orientation angle via RPY angle (rotation
sequence ZYX)
m 50
ORIS
5
Orientation modification
(orientation smoothing factor)
Real Relative to the
path
m
ORIVECT Large-radius circular interpolation (identical
to ORIPLANE)
m 51