Siemens SINUMERIK 810DE - Page 420

Tables
12.1 List of statements
Fundamentals
12-14 Programming Manual, 10.2004 Edition, 6FC5 298-7AB00-0BP1
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 a circular peripheral surface
in tangential transition
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) large-radius circular interpolation
Final orientation:
Vector
specification A3,
B3, C3, or
Euler/RPY angle
A2, B2, C2
Additional
inputs:
Rotational
vectors
A6, B6, C6
Aperture angle
of cone in
degrees 0 <
SLOT <180
degrees
Intermediate
vectors: A7, B7,
C7
contact point of
tool: XH, YH,
ZH,
Parameter settings as
follows:
Direction vectors
normalized A6=0 B6=0
C6=1
Aperture 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 referred to path Transformation
package
handling, see
/FB/, TE4
m 51
ORIROTA Angle of rotation to an absolute direction of
rotation.
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 m 50
ORIS
5
Orientation modification
(orientation smoothing factor)
Real Referring to the
path
m
ORIVECT Large-radius circular interpolation (identical to
ORIPLANE)
m 51
ORIVIRT1 Orientation angle via virtual orientation axes
(definition 1)
m 50
ORIVIRT2 Orientation angle via virtual orientation axes
(definition 1)
m 50
ORIMKS
6
Tool orientation in the machine coordinate
system
m 25
ORIWKS
1,6
Tool orientation in the workpiece coordinate
system
m 25