Key functions for 5-axis machining
3.5
© Siemens AG All rights reserved. SINUMERIK, Manual, 5-axis machining
52
ORIEULER/ORIRPY (A2 = B2= C2=)
Explanation of the commands
Programming
in RPY angles
ORIEULER
ORIRPY
Orientation programming on the basis of Euler angles (default)
Orientation programming on the basis of RPY angles
G1 X Y Z A2= B2= C2= Programming on the basis of Euler or RPY (Roll Pitch Yaw)
angles, or G codes. Interpretation is defined by means of machine
data.
Programming in Euler or RPY angles using A2, B2, C2, or pro-
gramming of the direction vector. The direction vector points from
the tool tip toward the tool holder.
The values programmed with A2, B2, and C2
during orientation programming are inter-
preted as RPY angles (in degrees).
Starting from the normal position:
The orientation vector is obtained by first rotat-
ing a vector in the Z direction around the Z
axis with C2 , then rotating it around the
new Y axis with B2, and finally rotating it
around the new X axis with A2 (Z, Y', X'').
In contrast to Euler angle programming, in this
case all three values have an impact on the
orientation vector.
Example:
N020 TRAORI
N030 G54
N040 G1 X0 Y0 Z0 F10000
N050 A2=0 B2=0 C2=0
N060 A2=30 B2=45 C2=90
N070 ...
...
1
3
2
With C2=90°:
rotated around
Z axis;
with B2=45°:
rotated around
With
A2=30°: rotated
around
1
2
3
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