7
08.97 Transformations
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
SINUMERIK 840D/840Di/810D/FM-NC Programming Guide Advanced (PGA)
−
04.00 Edition
7-231
MD
$MC_ORI_DEF_WITH_G_CODE
specifies how the
programmed angles A2, B2 and C2 are defined:
Definition according to MD
$MC_ORIENTATION_IS_EULER
(standard)
or
definition according to G_group 50
(ORIEULER, ORIRPY, ORIVIRT1, ORIVIRT2).
MD
$MC_ORI_IPO_WITH_G_CODE
defines which
interpolation type is active:
ORIWCS/ORIMCS or ORIAXES/ORIVECT.
JOG mode
In this mode, the interpolation of the orientation
angles is always linear. During continuous and
incremental traversing via traversing keys, only one
orientation axis can be traversed. Using the
handwheels both orientation axes can be traversed
at the same time.
For manual traversal of orientation axes, the
channel-specific feedrate override switch or the rapid
traverse override switch are active with rapid
traverse override.
A separate velocity can be specified with the
following machine data:
$MC_JOG_VELO_RAPID_GEO
$MC_JOG_VELO_GEO
$MC_JOG_VELO_RAPID_ORI
$MC_JOG_VELO_ORI
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