7
Transformations 08.97
7.1 Three
four and five-axes transformation: TRAORI
7
840D
NCU 572
NCU 573
840Di
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Siemens AG 2000. All rights reserved
7-224
SINUMERIK 840D/840Di/810D/FM-NC Programming Guide Advanced (PGA)
−
04.00 Edition
Programming
G1 X Y Z A B C
Programming of the movement of the rotary axes
G1 X Y Z A2= B2= C2=
Programming in Euler angles
G1 X Y Z A3= B3= C3=
Programming of the direction vector
G1 X Y Z A4= B4= C4=
Programming the surface normal vector at block start
G1 X Y Z A5= B5= C5=
Programming the surface normal vector at block end
LEAD
Lead angle for programming of the tool orientation
TILT
Side angle for programming of the tool orientation
Machine data can be used to switch between Euler
and RPY angles.
Programming in Euler angles
The values programmed for the orientation with A2,
B2, C2 are interpreted as Euler angles (in degrees).
The orientation vector is produced by rotating a
vector in the Z direction first with A2 around the Z
axis, then with B2 around the new X axis and finally
with C2 around the new Z axis.
In this case, the value of C2 (rotation around new Z
axis) is irrelevant and does not need to be
programmed.
Y
X
X
Z
X
Y
Z
Z
Z
X
X
Y
Y
Y
Y
X
Z
Z
B2
Y
Basic setting
With B2 = 45°
rotating around
rotating X axis
With A2 = 90°
rotating around
the Z axis
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