Content      ..     3      4      5      6     ..

SINUMERIK 840D sl/828D. Job Planning. Programming Manual (2010-2018) - page 5

Coordinate transformations (frames)

6.1 Coordinate transformation via frame variables

3DUW SURJUDP

$UFKLYLQJ

8VHU LQWHUIDFH

*ULQGLQJ IUDPHV

1&8 RGHU &+$1

3B*)5>Q@

6\VWHP IUDPHV

3B*)5> @

&+$1

3B&<&)5

3B5(/)5

3B75$)5

3B,62 )5

3B:3)5

%DVLF IUDPHV

6HWWDEOH IUDPHV

3B,62 )5

3B722/)5

1&8

&+$1

1&8 RGHU &+$1

3B,62 )5

3B(;7)5

3B1&%)5>Q@

3B&+%)5>Q@

3B8,)5>Q@

3B,62 )5

3B6(7)5

3B3$57)5

3B1&%)5> @

3B&+%)5> @

3B8,)5> @

*

*

*

3,B6(78'7

*)5$0(

*)5$0(

5HVHW

$FWLYDWLRQ RI GDWD VWRUDJH IUDPHV WKURXJK

7UDQVIRUPDWLRQVZHFKVHO *(2$;

&KDQQHO

$FWLYH IUDPHV

3B$&7)5$0(

3B3$57)5$0( 3B6(7)5$0( 3B(;7)5$0(

DFWLYH FRPSOHWH IUDPH WKURXJK FKDLQLQJ

3B,62 )5$0(

3B,62 )5$0( 3B,62 )5$0(

RI DOO DFWLYH IUDPHV LQ WKH VSHFLILHG RUGHU

3B$&7%)5$0(

3B,)5$0( 3B*)5$0(

3B722/)5$0(

3B:3)5$0( 3B75$)5$0(

3B3)5$0( 3B,62 )5$0( 3B&<&)5$0(

3DUW SURJUDP

Figure 6-1

Overview of the frame variables

Job Planning

284

Programming Manual, 12/2018, A5E40869460B AB

Coordinate transformations (frames)

6.1 Coordinate transformation via frame variables

6.1.1

Predefined frame variable ($P_CHBFRAME, $P_IFRAME, $P_PFRAME,

$P_ACTFRAME)

Active: channel-specific base frames $P_CHBFRAME[ <n> ] ($P_BFRAME)

Note

The current base frame $P_BFRAME and the data storage base frame $P_UBFR are retained

for compatibility reasons.

● $P_BFRAME ≙ $P_CHBFRAME[0]

● $P_UBFR ≙ $P_CHBFR[0].

The frame variables $P_CHBFRAME[<n>] define the reference between the basic coordinate

system (BCS) and the basic origin system (BOS).

If the current channel-specific base frame $P_CHBFRAME[<n>] should be active immediately

in the NC program, the following possibilities are available.

● Commands:

- G500 (deactivate all settable frames, the base frames remain active)

- G54 to G599 (settable zero offsets)

● Assignment of a channel-specific base frames of the data storage to a current channel-

specific base frame:

$P_CHBFRAME[<n>] = $P_CHBFR[<m>]

=

=

%.6

%16

;

%16

3B$&7%)5$0(

;%.6

Active: Channel-specific settable frame $P_IFRAME

The frame variable $P_IFRAME defines the reference between the basic origin system (BOS)

and the settable zero system (SZS).

● $P_IFRAME corresponds to $P_UIFR[$P_IFRNUM]

● After G54 is programmed, for example, $P_IFRAME contains the translation, rotation,

scaling and mirroring defined by G54.

Job Planning

Programming Manual, 12/2018, A5E40869460B AB

285

Coordinate transformations (frames)

6.1 Coordinate transformation via frame variables

=

(16

=

%16

<

(16

<%16

;

(16

; %16

Active: Channel-specific programmable frame $P_PFRAME

The $P_PFRAME frame variable defines the reference between the settable zero system

(SZS) and the workpiece coordinate system (WCS).

$P_PFRAME contains the resulting frame, that results

● From the programming of TRANS/ATRANS, ROT/AROT, SCALE/ASCALE, MIRROR/

AMIRROR or

● From the assignment of CTRANS, CROT, CMIRROR, CSCALE to the programmed FRAME

=

:.6

=

(16

=%16

<

(16

%16

<

<

:.6

;:

.6

; (16

; %16

Active: Total frame $P_ACTFRAME

The total frame active in the channel results from the chaining of all frames acting in the

channel.

$P_ACTFRAME =

$P_PARTFRAME : $P_SETFRAME : $P_EXTFRAME :

$P_ISO1FRAME : $P_ISO2FRAME : $P_ISO3FRAME :

$P_ACTBFRAME : $P_IFRAME : $P_GFRAME :

$P_TOOLFRAME : $P_WPFRAME : $P_TRAFRAME :

$P_PFRAME

: $P_ISO4FRAME : $P_CYCFRAME

$P_ACTFRAME describes the currently valid workpiece coordinate system.

Job Planning

286

Programming Manual, 12/2018, A5E40869460B AB

Coordinate transformations (frames)

6.1 Coordinate transformation via frame variables

=:.6

=

=%.6

(16

=%16

<(16

<%16

<.6

;:.6

;(16

;%16

;%.6

3B$&7)5$0(

Figure 6-2

Frame variable $P_ACTFRAME

If one of the following frames $P_BFRAME / $P_CHBFRAME[<n>], $P_IFRAME or

$P_PFRAME is changed, the current total frame $P_ACTFRAME is recalculated.

,QSXW IURP SURJUDP H J

,QSXW IURP SURJUDP H J

3B8%)5 &75$16 ;

3B8,)5>Q@ &75$16 ;

,QSXW IURP

,QSXW IURP

+0, 00&

+0, 00&

3B8%)5

3B8,)5>Q@

DFWLYDWHG YLD

*

*

*

3B$&7)5$0(

3B%)5$0(

3B,)5$0(

3B3)5$0(

,QSXW IURP SURJUDP H J

,QSXW IURP SURJUDP H J

3B%)5$0( &75$16 ;

3B3)5$0( &75$16 ;

RU 75$16 ;

,QSXW IURP SURJUDP H J

3B,)5$0( &75$16 ;

Basic frame and settable frame are effective after Reset if MD 20110 RESET_MODE_MASK

is set as follows:

Bit0=1, bit14=1 --> $P_UBFR (basic frame) acts

Bit0=1, bit5=1 --> $P_UIFR [$P_UIFRNUM](settable frame) acts

Job Planning

Programming Manual, 12/2018, A5E40869460B AB

287

Coordinate transformations (frames)

6.1 Coordinate transformation via frame variables

Data storage: channel-specific base frames $P_CHBFR[<n>]

The frame variables $P_CHBFR[<n>] read/write the base frames in the data storage. The data

storage frame is not immediately active in the channel when written. The written frame is

activated with:

● Channel reset and MD20110 $MC_RESET_MODE_MASK, Bit0 == 1 and Bit14 == 1

● Command G500, G54 ... G57, G505 ... G599 (activation/deactivation of base frames with

subsequent recalculation of the current total frames)

Data storage: Channel-specific settable frames $P_UIFR[<n>]

The frame variables $P_UIFR[<n>] read/write the settable base frames in the data storage.

The frame is not immediately active in the channel when written. The written frame in the

channel is calculated with:

● G500 command (deactivate all settable frames or zero offsets)

● G54 ... G57, G505 ... G599 command (activate a settable frame or zero offset)

Active settable frame

Data storage frame

(corresponds to command)

$P_IFRAME =

$P_UIFR[0]

G500

$P_UIFR[1]

G54

$P_UIFR[2]

G55

$P_UIFR[3]

G56

$P_UIFR[4]

G57

$P_UIFR[5]

G505

$P_UIFR[6]

G506

$P_UIFR[99]

G599

Job Planning

288

Programming Manual, 12/2018, A5E40869460B AB

Coordinate transformations (frames)

6.2 Value assignments to frames

6.2

Value assignments to frames

6.2.1

Assigning direct values (axis value, angle, scale)

You can directly assign values to frames or frame variables in the NC program.

Syntax

Syntax

$P_PFRAME = CTRANS(X, <offset value>, Y, <offset value>, Z, <offset

value>, ...)

$P_PFRAME = ROT(X, <angle>, Y, <angle>, Z, <angle>, ...)

$P_UIFR[..] = CROT(X, <angle>, Y, <angle>, Z, <angle>, ...

$P_PFRAME = CSCALE(X, <scale>, Y, <scale>, Z, <scale>, ...)

$P_PFRAME = CMIRROR(X, Y, Z)

The syntax for $P_CHBFRAME[<n>] is identical to $P_PFRAME.

Meaning

CTRANS:

Translation of specified axes

CROT:

Rotation around specified axes

CSCALE:

Scale change on specified axes

CMIRROR:

Direction reversal on specified axis

X, Y, Z:

Offset value in the direction of the specified geometry axis

<offset value>:

Offset value

<angle>:

The angle with the rotation

<scale>:

Scale value

Examples

Value assignments to frame components of the current programmable frame

Value assignment to the translation, rotation and mirror frame components of the current

programmable frame:

$P_PFRAME = CTRANS(X,10,Y,20,Z,5) : CROT(Z,45) : CMIRROR(Y)

Job Planning

Programming Manual, 12/2018, A5E40869460B AB

289

Coordinate transformations (frames)

6.2 Value assignments to frames

=

<

<

<

;

=

;

<

&75$16

&527

&0,5525

;

Writing the rotation components of a frame

Assignment of values to all three axes of the rotation component of the settable data storage

frame $P_UIFR with CROT :

$P_UIFR[5] = CROT(X, 0, Y, 0, Z, 0)

Alternatively, the direct assignment of the individual values to the associated axis of the rotation

component of the data storage frame:

$P_UIFR[5, Y, RT]=0

$P_UIFR[5, X, RT]=0

$P_UIFR[5, Z, RT]=0

Description

The chaining operator : combines several operations on a frame with each other. The

operations are processed successively from left to right.

Example

Chained operations on $P_PFRAME with offset, rotation and scaling:

$P_PFRAME = CTRANS(...) : CROT(...) : CSCALE...

Job Planning

290

Programming Manual, 12/2018, A5E40869460B AB

Coordinate transformations (frames)

6.2 Value assignments to frames

<

<

&527

;

;

6.2.2

Reading and changing frame components (TR, FI, RT, SC, MI)

This feature allows you to access individual data of a frame, e.g. a specific offset value or angle

of rotation. You can modify these values or assign them to another variable.

Syntax

R10=$P_UIFR[$P_UIFNUM,X,RT]

Assign the angle of rotation RT around the X axis

from the currently valid settable zero offset $P_UIFR-

NUM to the variable R10.

R12=$P_UIFR[25,Z,TR]

Assign the offset value TR in Z from the data set of

set frame no. 25 to the variable R12.

R15=$P_PFRAME[Y,TR]

Assign the offset value TR in Y of the current pro-

grammable frame to the variable R15.

$P_PFRAME[X,TR] = 25

Modify the offset value TR in X of the current pro-

grammable frame. X25 applies immediately.

Meaning

$P_UIFRNUM:

This command automatically establishes the reference

to the currently valid settable zero offset.

P_UIFR[n,…,…] :

Specify the frame number n to access the settable

frame no. n.

Specify the component to be read or modified:

TR:

TR Translation

FI:

FI Translation Fine

RT:

RT Rotation

SC:

SC Scale scale modification

MI:

MI Mirroring

X, Y, Z:

The corresponding axis X, Y, Z is also specified (see

examples).

Job Planning

Programming Manual, 12/2018, A5E40869460B AB

291

Coordinate transformations (frames)

6.2 Value assignments to frames

Value range for RT rotation

Rotation around 1st geometry axis:

-180° to +180°

Rotation around 2nd geometry axis: -90° to +90°

Rotation around 3rd geometry axis:

-180° to +180°

Description

Calling frame

By specifying the system variable $P_UIFRNUM you can access the current zero offset set

with $P_UIFR or G54, G55, ...

($P_UIFRNUM contains the number of the currently set frame).

All other stored settable $P_UIFR frames are called up by specifying the appropriate number

$P_UIFR[n].

For predefined frame variables and user-defined frames, specify the name, e.g. $P_IFRAME.

Calling data

The axis name and the frame component of the value you want to access or modify are written

in square brackets, e.g. [X, RT] or [Z, MI].

6.2.3

Calculating with frames

A frame can be assigned to another frame or frames can be chained to each other in the NC

program.

Frame chainings are suitable for the description of several workpieces, arranged on a pallet,

which are to be machined in the same process.

=

<

*

;

Job Planning

292

Programming Manual, 12/2018, A5E40869460B AB

Coordinate transformations (frames)

6.4 External zero offset ($AA_ETRANS)

6.4

External zero offset ($AA_ETRANS)

The external zero offset is a linear offset between the base coordinate system (BCS) and the

basic origin system (BOS).

]_%16

]_%.6

[_%16

$$B(75$16 3B(;7)5$0(

[_%.6

The external zero offset with $AA_ETRANS acts in two ways depending on the machine data

parameterization:

1. After activation by the NC/PLC interface signal, the system variable $AA_ETRANS acts

directly as offset value

2. After activation by the NC/PLC interface signal, the value of the system variable

$AA_ETRANS is transferred to the active system frames $P:EXTFRAME and the data

storage frame $P_EXTFR. The active total frame $P_ACTFRAME is then recalculated.

Machine data

In conjunction with the system variable $AA_ETRANS, a differentiation is made between two

procedures selected with the following machine data:

MD28082 $MC_MM_SYSTEM_FRAME_MASK,Bit1 = <value>

<value>

Meaning

0

Function: $AA_ETRANS[<axis>] written directly by PLC, HMI or NC program.

Enable for retraction of the zero offset for $AA_ETRANS[<axis>] in the next possible tra-

versing block: DB31, ... DBX3.0

1

Function: Activation of the active system frame $P:EXTFRAME and the data storage frame

$P_EXTFR

Enable for retraction of the zero offset for $AA_ETRANS[<axis>] by: DB31, ... DBX3.0. The

following is performed in the channel:

● Stop all traversal movements in the channel (other than command and PLC axes)

● Preprocessing stop with subsequent reorganization (STOPRE)

● Coarse offset of active frame $P_EXTFRAME[<axis>] = $AA_ETRANS[<axis>]

● Coarse offset of data storage frame $P_EXTFR[<axis>] = $AA_ETRANS[<axis>]

● Recalculation of the active total frame $P_ACTFRAME

● Retraction of the offset in the programmed axes.

● Continuation of the interrupted traversing motion or of the NC program

Job Planning

Programming Manual, 12/2018, A5E40869460B AB

297

Coordinate transformations (frames)

6.5 Set actual value with loss of the referencing status (PRESETON)

6.5

Set actual value with loss of the referencing status (PRESETON)

The PRESETON() procedure sets for one or more axes a new actual value in the machine

coordinate system (MCS). This corresponds to a zero offset of the MCS of the axis. This does

not cause the axis to be traversed.

PRESETON initiates a preprocessing stop with synchronization. The actual position is assigned

to the axis only at standstill.

If the axis for PRESETON is not assigned to the channel, the further procedure depends on the

axis-specific configuring of the axis replacement behavior:

MD30552 $MA_AUTO_GET_TYPE

Referencing status

By setting a new actual value in the machine coordinate system, the referencing status of the

machine axis is reset:

DB31, ... DBX60.4/.5 = 0 (referenced / synchronized measuring system 1/2)

For this reason it is recommended that PRESETON only be used for axes that do not require a

reference point.

To restore the original machine coordinate system, the measuring system of the machine axis

must be referenced again, e.g. through active referencing from the part program (G74).

CAUTION

Loss of the referencing status

The setting of a new actual value in the machine coordinate system with PRESETON resets

the referencing status of the machine axis to "not referenced / synchronized".

Programming

Syntax

PRESETON(<axis_1>, <value_1> [, <axis_2>, <value_2>, ... <axis_8>,

<value_8>])

Meaning

PRESETON:

Set actual value with loss of the referencing status

Preprocessing

yes

stop:

Alone in the block:

yes

<axis_x>:

Machine axis name

Type:

AXIS

Range of values:

Machine axis names defined in the channel

<value_x>:

New actual value of the machine axis in the machine coordinate system (MCS)

The input is made in the currently valid measuring system (inch/metric)

An active diameter programming (DIAMON) is considered

Type:

REAL

Job Planning

Programming Manual, 12/2018, A5E40869460B AB

299

Coordinate transformations (frames)

6.6 Set actual value without loss of the referencing status (PRESETONS)

6.6

Set actual value without loss of the referencing status (PRESETONS)

The PRESETONS() procedure sets for one or more axes a new actual value in the machine

coordinate system (MCS). This corresponds to a zero offset of the MCS of the axis. This does

not cause the axis to be traversed.

PRESETONS initiates a preprocessing stop with synchronization. The actual position is

assigned to the axis only at standstill.

If the axis for PRESETONS is not assigned to the channel, the further procedure depends on

the axis-specific configuring of the axis replacement behavior:

MD30552 $MA_AUTO_GET_TYPE

Referencing status

The setting of a new actual value in the machine coordinate system (MCS) with PRESETONS

does not change the referencing status of the machine axis.

Requirements

● Encoder type

PRESETONS is possible only for the following encoder types of the active measuring system:

- MD30240 $MA_ENC_TYPE[<measuring system>] = 0 (simulated encoder)

- MD30240 $MA_ENC_TYPE[<measuring system>] = 1 (raw signal encoder)

● Referencing mode

PRESETONS is possible only for the following referencing modes of the active measuring

system:

- MD34200 $MA_ENC_REFP_MODE[<measuring system>] = 0 (no reference point

approach possible)

- MD34200 $MA_ENC_REFP_MODE[<measuring system>] = 1 (referencing for

incremental, rotary or linear measuring systems: Zero pulse on the encoder track)

Programming

Syntax

PRESETONS(<axis_1>, <value_1> [, <axis_2>, <value_2>, ... <axis_8>,

<value_8>])

Meaning

PRESETONS:

Set actual value without loss of the referencing status

Preprocessing

yes

stop:

Alone in the block:

yes

<axis_x>:

Machine axis name

Type:

AXIS

Range of values:

Machine axis names defined in the channel

Job Planning

Programming Manual, 12/2018, A5E40869460B AB

301

Coordinate transformations (frames)

6.7 Frame calculation from three measuring points in space (MEAFRAME)

6.7

Frame calculation from three measuring points in space

(MEAFRAME)

The MEAFRAME function is used to support measuring cycles. It calculates the frame from

three ideal points and the corresponding measured points.

When a workpiece is positioned for machining, its position relative to the Cartesian machine

coordinate system is generally both offset and rotated in relation to its ideal position. For exact

machining or measuring either a costly physical adjustment of the part is required or the

motions defined in the part program must be changed.

A frame can be defined by sampling three points in space whose ideal positions are known.

A touch-trigger probe or optical sensor is used for sampling that touches special holes precisely

fixed on the supporting plate or probe balls.

Syntax

MEAFRAME(<ideal points>,<measuring points>,<quality>)

Meaning

MEAFRAME:

Function call

<ideal points>:

2-dim. REAL array containing the three coordinates of the ideal points

<measuring points>:

2-dim. REAL array containing the three coordinates of the measured points

<quality>:

Variable with which information on the quality of the FRAME calculation is

returned

Type:

VAR REAL

Value:

-1

The ideal points are almost on a straight line: The

frame could not be calculated. The returned

FRAME variable contains a neutral frame.

-2

The measuring points are almost on a straight line:

The frame could not be calculated. The returned

FRAME variable contains a neutral frame.

-4

The calculation of the rotation matrix failed for a

different reason.

≥ 0.0

Sum of distortions (distances between the points),

that are required to transform the measured triangle

into a triangle that is congruent to the ideal triangle.

Note

Quality of the measurement

In order to map the measured coordinates onto the ideal coordinates using a rotation and a

translation, the triangle formed by the measured points must be congruent to the ideal triangle.

This is achieved by means of a compensation algorithm that minimizes the sum of squared

deviations needed to reshape the measured triangle into the ideal triangle.

Since the effective distortion can be used to judge the quality of the measurement, MEAFRAME

returns it as an additional variable.

Job Planning

Programming Manual, 12/2018, A5E40869460B AB

303

Coordinate transformations (frames)

6.8 NCU global frames

<

%&6

<

<

%=6

3B$&7%)5$0(

%=6

;

%=6

3B&+%)5$0(>Q@ Q

FDQ EH FRQILJXUHG YLD 0&B00B180B%$6(B)5$0(6

3B&+%)5$0(> @ 3B%)5$0(

3B1&%)5$0(>Q@ QFDQ EH FRQILJXUHG YLD 01B00B180B*/2%$/B%$6(B)5$0(6

;

3B1&%)5$0(> @

;

%&6

%=6 EDVLF ]HUR V\VWHP

%&6

%&6 EDVLF FRRUGLQDWH V\VWHP

3

$&7%)5$0( 3B1&%)5$0(> @ 3B1&%)5$0(>Q@ 3B&+%)5$0(> @ 3B&+%)5$0(>Q@

$P_CHBFRMASK and $P_NCBFRMASK Complete basic frame

The user can select which basic frames are to be included in the calculation of the "Complete"

basic frame via the system variables $P_CHBFRMASK and $P_NCBFRMASK. The variables

can only be programmed in the program and read via the OPI. The value of the variable is

interpreted as a bit mask and specifies which basic frame field element of $P_ACTFRAME is

to be included in the calculation.

$P_CHBFRMASK can be used to specify which channel-specific basic frames and

$P_NCBFRMASK can be used to specify which NCU global basic frames are to be included

in the calculation.

The complete basic frame and the complete frame are recalculated with the programming of

the variables. After a reset and in the basic setting, the values of $P_CHBFRMASK and

$P_NCBFRMASK are as follows:

$P_CHBFRMASK = $MC_CHBFRAME_RESET_MASK

$P_NCBFRMASK = $MC_CHBFRAME_RESET_MASK

Example:

$P_NCBFRMASK = 'H81' ;$P_NCBFRAME[0] : $P_NCBFRAME[7]

$P_CHBFRMASK = 'H11' ;$P_CHBFRAME[0] : $P_CHBFRAME[4]

$P_IFRAME Current settable frame

The predefined frame variable $P_IFRAME can be used to read and write the current settable

frame, which is valid in the channel, in the part program. The written settable frame is

immediately included in the calculation.

In the case of NCU global settable frames, the modified frame acts only in the channel in which

the frame was programmed. If the frame is to be modified for all channels of an NCU,

$P_UIFR[n] and $P_IFRAME must be written simultaneously. The other channels must then

activate the corresponding frame, e.g. with G54.

Job Planning

310

Programming Manual, 12/2018, A5E40869460B AB

Coordinate transformations (frames)

6.8 NCU global frames

$P_PFRAME Current programmable frame

$P_PFRAME is the programmable frame that results from the programming of TRANS/

ATRANS, G58/G59, ROT/AROT, SCALE/ASCALE, MIRROR/AMIRROR or from the

assignment of CTRANS, CROT, CMIRROR, CSCALE to the programmable frame.

Current, programmable frame variable that establishes the reference between the settable

zero system (SZS) and the workpiece coordinate system (WCS).

P_ACTFRAME Current complete frame

The resulting current complete frame $P_ACTFRAME is now a chain of all basic frames, the

current settable frame and the programmable frame. The current frame is always updated

whenever a frame component is changed.

$P_ACTFRAME corresponds to:

$P_PARTFRAME : $P_SETFRAME : $P_EXTFRAME : $P_ACTBFRAME : $P_IFRAME :

$P_TOOLFRAME : $P_WPFRAME : $P_TRAFRAME : $P_PFRAME : $P_CYCFRAME

'DWD PDQDJHPHQW IUDPHV

,QSXW YLD SURJUDP H J

,QSXW YLD SURJUDP H J

3B&+%)5 &75$16 =

3B1&%)5 &75$16 ;

3B8,)5>Q@ &75$16 ;

3B75$)5

,QSXW YLD

&KDQQHOVSHFLILF

,QSXW YLD

+0,

+0,

V\VWHP IUDPHV

3B&<&)5

3B:3)5

3B722/)5

3B3$57)5

3B&+%)5>Q@

3B1&%)5>Q@

3B(;7)5

&KDQQHO VSHFLILF 1&8

1&8 JOREDO

3B6(7)5

3B8,)5>Q@

EDVLF IUDPHV

IUDPHV

$FWLYDWHG YLD

$FWLYDWHG YLD

*

*

*

*

*

*

&RPSOHWH IUDPH

,QSXW YLD SURJUDP H J

$FWLYH FRPSOHWH IUDPH

3B1&%)5$0(> @ &75$16 ;

3B$&7)5$0(

3B3$57)5$0(

6(7)5$0(

3B(;7)5$0(

3B$&7%)5$0(

3B,)5$0(

3B722/)5$0(

3B:3)5$0(

3B75$)5$0(

3B3)5$0(

3B&<&)5$0(

,QSXW YLD SURJUDP H J

,QSXW YLD SURJUDP H J

3B3)5$0( &75$16 ;

3B,)5$0( &75$16 ;

RU

75$16 ;

Job Planning

Programming Manual, 12/2018, A5E40869460B AB

311

Coordinate transformations (frames)

6.8 NCU global frames

Frame chaining

The current frame is composed of the complete basic frame, the settable frame, the system

frame and the programmable frame in accordance with the current complete frame specified

above.

)UDPH FKDLQ

:&6

)UDPH IRU F\FOHV SURJUDPPDEOH IUDPH

WUDQVIRUPDWLRQV

6=6

6\VWHP IUDPH IRU 72527 72)5$0(

ZRUNSLHFHV

*

*

VHW IUDPH FKDQQHO VSHF RU

1&8 JOREDO

%=6

&KDLQHG DUUD\ RI EDVLF IUDPHV FKDQQHO VSHF

DQG RU 1&8 JOREDO

&KDLQHG V\VWHP IUDPHV IRU 3$527 VHW DFWXDO YDOXH VFUDWFKLQJ

]HUR RIIVHW H[WHUQDO

+DQGZKHHO '5) RIIVHW VXSHULPSRVHG PRYHPHQW >]HUR RIIVHW

H[WHUQDO@

%&6

.LQHPDWLF WUDQVIRUPDWLRQ

0&6

+RPH SRVLWLRQ RIIVHW

0&6 0DFKLQH &RRUGLQDWH 6\VWHP

%&6 %DVLF &RRUGLQDWH 6\VWHP

:&6 :RUNSLHFH &RRUGLQDWH 6\VWHP

%=6 %DVLF =HUR 6\VWHP

6=6 6HWWDEOH =HUR 6\VWHP

Job Planning

312

Programming Manual, 12/2018, A5E40869460B AB

Transformations

7.1 General programming of transformation types

Machine kinematics for three, four and five axis transformation (TRAORI)

Either the tool or the tool table can be rotatable with up to two rotary axes. A combination of

swivel head and rotary table (single-axis in each case) is also possible.

6ZLYHO KHDG

6ZLYHO KHDG

6ZLYHO KHDG

=

FDQ EH URWDWHG

FDQ EH URWDWHG

IL[HG

DERXW ; D[LV

DERXW < D[LV

DQG = D[LV

&

%

<

7RRO WDEOH FDQ

7RRO WDEOH FDQ

EH URWDWHG

$

EH URWDWHG

DERXW ; D[LV

;

DERXW = D[LV

DQG = D[LV

=

=

&

&

<

7RRO WDEOH IL[HG

$

;

5RWDWHG WRRO

5RWDWHG WRRO 5RWDWHG

5RWDWHG ZRUNSLHFH

ZRUNSLHFH

0DFKLQH W\SH ZLWK

0DFKLQH W\SH ZLWK

0DFKLQH W\SH ZLWK

D[LV VHTXHQFH &$

D[LV VHTXHQFH %&

D[LV VHTXHQFH $&

Machine type

Programming of orientation

Three-axis transformation ma-

Programming of tool orientation only in the plane, which is perpendic-

chine types 1 and 2

ular to the rotary axis. There are

two translatory axes (linear axes) and

one axis of rotation (rotary axis).

Four-axis transformation ma-

Programming of tool orientation only in the plane, which is perpendic-

chine types 1 and 2

ular to the rotary axis. There are

three translatory axes (linear axes) and

one axis of rotation (rotary axis).

Five-axis transformation ma-

Programming of orientation transformation. Kinematics with

chine types 3

three linear axes and two orthogonal rotary axes.

Single-axis swivel head and

The rotary axes are parallel to two of the three linear axes. The first

single-axis rotary table

rotary axis is moved by two Cartesian linear axes. It rotates the third

linear axis with the tool. The second rotary axis rotates the workpiece.

Generic 5/6-axis transformations

Machine type

Programming of orientation transformation

Generic five/six-axis transfor-

Programming of orientation transformation. Kinematics with

mation machine types 4

three linear axes and three orthogonal rotary axes.

Two-axis swivel head with tool

The rotary axes are parallel to two of the three linear axes. The first

which rotates around itself and

rotary axis is moved by two Cartesian linear axes. It rotates the third

single-axis rotary table

linear axis with the tool. The second rotary axis rotates the workpiece.

The basic tool orientation can also be programmed with additional ro-

tation of the tool around itself with the THETA rotary angle.

When calling "generic three-, four-, and five/six-axis transformation", the basic orientation of

the tool can also be transferred. The restrictions in respect of the directions of the rotary axes

no longer apply. If the rotary axes are not exactly vertical to one another or existing rotary axes

Job Planning

316

Programming Manual, 12/2018, A5E40869460B AB

Transformations

7.1 General programming of transformation types

are not exactly parallel with the linear axes, "generic five-/six-axis transformation" can provide

better results in respect of tool orientation.

Kinematic transformations TRANSMIT, TRACYL and TRAANG

For milling on turning machines or an axis that can be set for inclined infeed during grinding,

the following axis arrangements apply by default in accordance with the transformation

declared:

TRANSMIT

Activation of polar transformation

Face machining in the turning

A rotary axis

clamp

An infeed axis vertical to the axis of rotation

A longitudinal axis parallel to the axis of rotation

TRACYL

Activation of the cylinder surface transformation

Machining of grooves with any

A rotary axis

path on cylindrical bodies

An infeed axis vertical to the axis of rotation

A longitudinal axis parallel to the axis of rotation

TRAANG

Activation of the inclined axis transformation

Machining with an oblique in-

A rotary axis

feed axis

An infeed axis with parameterizable angle

A longitudinal axis parallel to the axis of rotation

Cartesian PTP travel

The machine moves in machine coordinates and is programmed with:

TRAORI

Activation of transformation

PTP point-to-point traversing

Approach position in Cartesian coordinate system (MCS)

CP

Path motion of Cartesian axes in the BCS

STAT

Position of the articulated joints is dependent on the transformation

TU

The angle at which the axes traverse on the shortest path

PTP transversal with generic 5/6-axis transformation

The machine is moved using machine coordinates and the tool orientation, where the

movements can be programmed both using round axis positions and using Euler and/or RPY

angle vectors irrespective of the kinematics or the direction vectors.

Round axis interpolation, vector interpolation with large circle interpolation or interpolation of

the orientation vector on a peripheral surface of a taper are possible in such cases.

Job Planning

Programming Manual, 12/2018, A5E40869460B AB

317

Transformations

7.1 General programming of transformation types

Machine type

Programming with active transformation TRAORI

Interpolation of the orientation vector on a taper peripheral surface

Orientation changes to a taper peripheral surface anywhere in space

using

interpolation:

- ORIPLANE in the plane (large radius circle interpolation)

- ORICONCW on a taper peripheral surface in the clockwise direction

- ORICONCCW on a taper peripheral surface in the counter-clockwise

direction

A6, B6, C6 director vector (axis of rotation of the taper)

-OICONIO interpolation on a taper peripheral surface with:

A7, B7, C7 intermediate vectors (initial and ultimate orientation) or

- ORICONTO on the peripheral surface of a taper, tangential transition

Changes in orientation in relation to a path with

- ORICURVE specification of the movement of two contact points using

PO[XH]=(xe, x2, x3, x4, x5) orientation polynomials up to the fifth de-

gree

PO[YH]=(ye, y2, y3, y4, y5) orientation polynomials up to the fifth de-

gree

PO[ZH]=(ze, z2, z3, z4, z5) orientation polynomials up to the fifth de-

gree

- ORIPATHS smoothing of orientation characteristic with

A8, B8, C8 reorientation phase of tool corresponding to: direction and

path length of tool during retraction movement

Machine types 1 and 3

Programming of rotations for tool orientation with

LEAD angle, angle relative to surface normal vector

PO[PHI] programming of a polynomial up to the fifth degree

TILT angle rotation about path tangent (Z direction)

PO[PSI] programming of a polynomial up to the fifth degree

Other machine types with ad-

THETA angle of rotation (rotation about tool direction in Z)

ditional tool rotation around it-

THETA= value reached at end of block

self require a 3rd rotary axis

THETA=AC(...) absolute non-modal switching to dimensions

THETA=IC(...) non-modal switching to chain dimensions

THETA=Θ_e interpolate programmed angle G90/G91

Orientation transformation,

PO[THT]=(..) programming of a polynomial up to the fifth degree

e.g. generic 6-axis transforma-

programming of the rotation vector

tion. Rotations of orientation

- ORIROTA rotation, absolute

vector.

- ORIROTR relative rotation vector

- ORIROTT tangential rotation vector

Orientation relative to the path

Changes in orientation relative to the path with

for orientation changes rela-

- ORIPATH tool orientation relative to the path

tive to the path or rotation of

- ORIPATHS also in the event of a blip in the orientation characteristic

the rotary vector tangentially

programming of rotation vector

to the path

- ORIROTC tangential rotation vector, rotation to path tangent

Job Planning

320

Programming Manual, 12/2018, A5E40869460B AB

Transformations

7.2 Three, four and five axis transformation (TRAORI)

7.2

Three, four and five axis transformation (TRAORI)

7.2.1

General relationships of universal tool head

To obtain optimum cutting conditions when machining surfaces with a three-dimensional curve,

it must be possible to vary the setting angle of the tool.

7RRO D[LV

The machine design to achieve this is stored in the axis data.

5-axis transformation

Cardanic tool head

Three linear axes (X, Y, Z) and two orientation axes (C, A) define the setting angle and the

operating point of the tool here. One of the two orientation axes is created as an inclined axis,

in our example A' - in many cases, placed at 45°.

Job Planning

Programming Manual, 12/2018, A5E40869460B AB

321

Transformations

7.2 Three, four and five axis transformation (TRAORI)

́

$

=

<

&

;

&DUGDQLF WRRO KHDG YDULDQW

In the examples shown here, you can see the arrangements as illustrated by the CA machine

kinematics with the Cardanic tool head!

Machine manufacturer

The axis sequence of the orientation axes and the orientation direction of the tool can be set

up using the machine data as appropriate for the machine kinematics.

$

&

́

&DUGDQLF WRRO KHDG YDULDQW

In this example, A' lies below the angle φ to the X axis.

Job Planning

322

Programming Manual, 12/2018, A5E40869460B AB

Transformations

7.2 Three, four and five axis transformation (TRAORI)

The following possible relations are generally valid:

A' lies below the angle φ to the

X axis

B' lies below the angle φ to the

Y axis

C' lies below the angle φ to the

Z axis

Angle φ can be configured in the range 0° to +89° using machine data.

With swiveling linear axis

This is an arrangement with a moving workpiece and a moving tool. The kinematics consists

of three linear axes (X, Y, Z) and two orthogonally arranged rotary axes. The first rotary axis

is moved, for example, over a compound slide of two linear axes, the tool standing parallel to

the third linear axis. The second rotary axis turns the workpiece. The third linear axis (swivel

axis) lies in the compound slide plane.

=

$

<

%

;

The axis sequence of the rotary axes and the orientation direction of the tool can be set up

using the machine data as appropriate for the machine kinematics.

There are the following possible relationships:

Axes:

Axis sequences:

1. rotary axis

A A B B C C

2. rotary axis

B C A C A B

Swiveled linear axis

Z Y Z X Y X

For more detailed information about configurable axis sequences for the orientation direction

of the tool, see

References: /FB3/ Function Manual, Special Functions; 3- to 5-Axis Transformations (F2),

Section Universal milling head, "Parameterization".

Job Planning

Programming Manual, 12/2018, A5E40869460B AB

323

Transformations

7.2 Three, four and five axis transformation (TRAORI)

7.2.2

Three, four and five axis transformation (TRAORI)

The user can configure two or three translatory axes and one rotary axis. The transformations

assume that the rotary axis is orthogonal on the orientation plane.

Orientation of the tool is possible only in the plane perpendicular to the rotary axis. The

transformation supports machine types with movable tool and movable workpiece.

Three- and four-axis transformations are configured and programmed in the same way as five-

axis transformations.

Reference:

Function Manual, Special Functions; Multi-Axis Transformations (F2)

Syntax

TRAORI(<n>)

TRAORI(<n>,<X>,<Y>,<Z>,<A>,<B>)

TRAFOOF

Meaning

TRAORI:

Activates the first specified orientation transformation

TRAORI(<n>):

Activates the orientation transformation specified by n

<n>:

Number of the transformation

Value:

1 or 2

Example:

TRAORI(1) activates orientation transformation 1

<X>,<Y>,<Z>:

Component of orientation vector to which tool points

<A>,<B>:

Programmable offset for the rotary axes

TRAFOOF:

Deactivate transformation

Tool orientation

Depending on the orientation direction selected for the tool, the active working plane (G17,

G18, G19) must be set in the NC program in such a way that tool length offset works in the

direction of tool orientation.

Note

When the transformation is enabled, the positional data (X, Y, Z) always relates to the tip of

the tool. Changing the positions of the rotary axes involved in the transformation causes

compensating motion of the remaining machine axes - which means that the position of the

tool tip remains unchanged.

Orientation transformation always points from the tool tip to the tool adapter.

Offset for orientation axes

When orientation transformation is activated an additional offset can be programmed directly

for the orientation axes.

Job Planning

324

Programming Manual, 12/2018, A5E40869460B AB

Transformations

7.2 Three, four and five axis transformation (TRAORI)

Tilt angle

TILT=<Value>

Meaning

G1:

Linear interpolation

X, Y, Z:

Linear axis positions

A, B, C:

Rotary axis positions

A2=, B2=, C2=:

Angle programming (Euler or RPY angle)

A3=, B3=, C3=:

Directional vectors in the X, Y and Z coordinates of the WCS.

A4=, B4=, C4=:

Surface normal vectors at the start of the block in the X, Y and Z coordinates

of the WCS.

A5=, B5=, C5=:

Surface normal vectors at the end of the block in the X, Y and Z coordinates

of the WCS.

LEAD= :

Leading angle ¹⁾

TILT= :

Tilt angle ¹⁾

1) The interpretation of the angle indications depend on the setting in MD21094 $MC_ORIPATH_MODE

Further information

5-axis programs are usually generated by CAD/CAM systems and not entered at the control.

So the following explanations are directed mainly at programmers of postprocessors.

The following commands are available for orientation programming:

Command

Meaning

ORIEULER:

Euler angle with rotation sequence ZX'Z''

ORIRPY:

RPY angle with rotation sequence XY'Z''

ORIRPY2:

RPY angle with rotation sequence ZY'X''

ORIVIRT1:

Virtual orientation axes with freely definable rotation sequence via:

MD21120 $MC_ORIAX_TURN_TAB_1

ORIVIRT2:

Virtual orientation axes with freely definable rotation sequence via:

MD21130 $MC_ORIAX_TURN_TAB_2

ORIAXPOS:

Virtual orientation axes with rotary axis positions

Note

The machine manufacturer can use machine data to define various variants. Please refer to

the machine manufacturer's instructions.

Programming in Euler angles ORIEULER, rotation sequence Z X' Z''

The values programmed during ORIEULER orientation programming with A2, B2, C2 are

interpreted as Euler angles (in degrees).

Job Planning

Programming Manual, 12/2018, A5E40869460B AB

329

Transformations

7.2 Three, four and five axis transformation (TRAORI)

=

2

;

<

X, Y, Z

Coordinate axes of the WCS

A3, B3,

Components of the directional vector

C3

O

Orientation vector

Figure 7-1

Programming the directional vector

Programming the tool orientation with LEAD and TILT

The resultant tool orientation is determined from:

● Path tangent

● Surface normal vector

At the start of the block A4, B4, C4 and at the end of the block A5, B5, C5

● Lead angle LEAD

Angle in the plane defined by the path tangent and surface normal vector

● Tilt angle TILT at end of block

Angle in the plane, perpendicular to the path tangent relative to the surface normal vector

Job Planning

Programming Manual, 12/2018, A5E40869460B AB

331

Transformations

7.2 Three, four and five axis transformation (TRAORI)

1

2

7&3

%

6

7

T

Path tangent

S

Perpendicular to path tangent

N

Surface normal

B

Path

TCP Tool Center Point

O

Orientation vector

Figure 7-2

Programming of LEAD TILT

Note

Behavior at inside corners with 3D tool offset

If the block is shortened at an inside corner, the programmed tool orientation is still taken over

at the end of the block.

Job Planning

332

Programming Manual, 12/2018, A5E40869460B AB

Transformations

7.2 Three, four and five axis transformation (TRAORI)

7.2.5

Face milling (A4, B4, C4, A5, B5, C5)

Face milling is used to machine curved surfaces of any kind.

$

%

$

&

%

&

For this type of 3D milling, you will require the line-by-line description of the 3D paths on the

workpiece surface.

The tool shape and dimensions are taken into account in the calculations, which are normally

performed in CAM. The fully calculated NC blocks are then read into the control via

postprocessors.

Programming the path curvature

Surface description

The path curvature is described by surface normal vectors with the following components:

A4, B4, C4 Start vector at block start

A5, B5, C5 End vector at block end

If a block only contains the start vector, the surface normal vector will remain constant

throughout the block. If a block only contains the end vector, interpolation will run from the end

value of the previous block via large-circle interpolation to the programmed end value.

If the start and end vectors are programmed, interpolation runs between the two directions,

also via large-circle interpolation. This allows continuously smooth paths to be created.

Regardless of the active G17 to G19 level, in the initial setting, surface normal vectors point

in the Z direction.

The length of a vector is meaningless.

Vector components that have not been programmed are set to zero.

Job Planning

Programming Manual, 12/2018, A5E40869460B AB

333

Transformations

7.2 Three, four and five axis transformation (TRAORI)

Further information

With ORIMKS, the movement executed by the tool depends on the machine kinematics. In the

case of a change in orientation of a tool tip at a fixed point in space, linear interpolation takes

place between the rotary axis positions.

With ORIWKS, the movement executed by the tool does not depend on the machine kinematics.

With an orientation change with a fixed tool tip, the tool moves in the plane set up by the start

and end vectors.

3ODQH WKDW ERWK

YHFWRUV FRYHUV

9HFWRU DW

EORFN VWDUW

9HFWRU DW EORFN HQG

Singular positions

Note

ORIWKS

Orientation movements in the singular setting area of the 5-axis machine require vast

movements of the machine axes. (For example, with a rotary swivel head with C as the rotary

axis and A as the swivel axis, all positions with A = 0 are singular.)

Machine manufacturer

To avoid overloading the machine axes, the velocity control vastly reduces the tool path velocity

near the singular positions.

With machine data

$MC_TRAFO5_NON_POLE_LIMIT

$MC_TRAFO5_POLE_LIMIT

the transformation can be parameterized in such a way that orientation movements close to

the pole are put through the pole and rapid machining is possible.

Singular positions are handled only with the MD $MC_TRAFO5_POLE_LIMIT.

Job Planning

Programming Manual, 12/2018, A5E40869460B AB

335

Transformations

7.2 Three, four and five axis transformation (TRAORI)

References:

/FB3/ Function Manual, Special Functions; 3- to 5-Axis Transformation (F2),

"Singular Points and How to Deal with Them" section.

7.2.7

Programming orientation axes (ORIAXES, ORIVECT, ORIEULER, ORIRPY,

ORIRPY2, ORIVIRT1, ORIVIRT2)

The "Orientation axes" function describes the orientation of the tool in space and is achieved

by programming the offset for the rotary axes. An additional, third degree of freedom can be

achieved by also rotating the tool about itself. In this case, the tool is oriented in space via a

third rotary axis for which 6-axis transformation is required. The rotation of the tool about itself

is defined using the THETA angle of rotation in accordance with the type of interpolation of the

rotation vectors (see "Rotations of the tool orientation (ORIROTA, ORIROTR, ORIROTT,

ORIROTC, THETA) (Page 346)").

Axis identifiers A2, B2 and C2 are used to program the orientation axes.

Syntax

N... ORIAXES/ORIVECT

; Linear or large-circle interpolation

N... G1 X Y Z A B C

N... ORIPLANE

; Orientation interpolation of the plane

N... ORIEULER/ORIRPY/ORIRPY2

: Orientation angle Euler/RPY angle

N... G1 X Y Z A2= B2= C2=

; Angle programming of virtual axes

N... ORIVIRT1/ORIVIRT2

; Virtual orientation axes def. 1/2

N... G1 X Y Z A3= B3= C3=

; Direction vector programming

Note

Other rotary axis offsets of the orientation axes can be programmed for orientation changes

along the peripheral surface of a taper in space, see "Orientation programming along the

peripheral surface of a taper (ORIPLANE, ORICONCW, ORICONCCW, ORICONTO,

ORICONIO) (Page 338)".

Meaning

ORIAXES:

Linear interpolation of machine or orientation axes

ORIVECT:

Large-circle interpolation (identical to ORIPLANE)

ORIMKS:

Rotation in the machine coordinate system

ORIWKS:

Rotation in the workpiece coordinate system

For a description, see "Reference of the orientation axes (ORIWKS,

ORIMKS): (Page 334)".

A= B= C=:

Programming the machine axis position

Job Planning

336

Programming Manual, 12/2018, A5E40869460B AB

Transformations

7.2 Three, four and five axis transformation (TRAORI)

ORIEULER:

Orientation programming via Euler angle

ORIRPY:

Orientation programming via RPY angle

The rotation sequence is XYZ and:

● A2 is the angle of rotation around X

● B2 is the angle of rotation around Y

● C2 is the angle of rotation around Z

ORIRPY2:

Orientation programming via RPY angle

The rotation sequence is ZYX and:

● A2 is the angle of rotation around Z

● B2 is the angle of rotation around Y

● C2 is the angle of rotation around X

A2= B2= C2=:

Angle programming of virtual axes

ORIVIRT1/ORIVIRT2:

Orientation programming using virtual orientation axes

Definition 1:

Definition according to MD21120 $MC_ORIAX_TURN_TAB_1

Definition 2:

Definition according to MD21130 $MC_ORIAX_TURN_TAB_2

A3= B3= C3=:

Direction vector programming of direction axis

Further information

Machine manufacturer

MD21102 $MC_ORI_DEF_WITH_G_CODE specifies how the programmed angles A2, B2, C2

are defined:

The definition is according to MD21100 $MC_ORIENTATION_IS_EULER (standard) or the

definition is according to G group 50 (ORIEULER, ORIRPY, ORIVIRT1, ORIVIRT2).

MD21104 $MC_ORI_IPO_WITH_G_CODE defines which interpolation mode type is active:

ORIWKS/ORIMKS or ORIAXES/ORIVECT.

JOG mode

Interpolation for orientation angles in this mode of operation is always linear. During continuous

and incremental traversal via the traversing keys, only one orientation axis can be traversed.

Orientation axes can be traversed simultaneously using the handwheels.

When orientation axes are traversed manually, the channel-specific feedrate override switch

or the rapid traverse override switch in rapid traverse override is applied.

A separate velocity setting is possible with the following machine data:

MD21160 $MC_JOG_VELO_RAPID_GEO

MD21165 $MC_JOG_VELO_GEO

MD21150 $MC_JOG_VELO_RAPID_ORI

Job Planning

Programming Manual, 12/2018, A5E40869460B AB

337

Transformations

7.2 Three, four and five axis transformation (TRAORI)

MD21155 $MC_JOG_VELO_ORI

Note

SINUMERIK 840D sl with "handling transformation package"

Using the "Cartesian manual traverse" function, the translation of geometry axes in JOG mode

can be set separately from one another in the reference systems MCS, WCS and TCS.

References:

Function Manual Extended Functions; Kinematic Transformation (M1)

7.2.8

Orientation programming along the peripheral surface of a taper (ORIPLANE,

ORICONCW, ORICONCCW, ORICONTO, ORICONIO)

With extended orientation it is possible to execute a change in orientation along the peripheral

surface of a taper in space. The orientation vector is interpolated on the peripheral surface of

a taper using the ORICONxx modal command. The end orientation can be programmed with

ORIPLANE for interpolation on a plane. The start orientation is usually defined by the previous

blocks.

'LUHFWLRQ D[LV

$QJOH RI

URWDWLRQ

3+,

25,&21&&:

FRXQWHU FORFNZLVH

25,&21&:

(QG RULHQWDWLRQ

FORFNZLVH

,QWHUPHGLDWH RULHQWDWLRQ

6WDUW RULHQWDWLRQ

GHWHUPLQHG E\

2SHQLQJ DQJOH 36,

SUHYLRXV EORFN

RI WDSHU

:RUNSLHFH

VXUIDFH

Job Planning

338

Programming Manual, 12/2018, A5E40869460B AB

Transformations

7.2 Three, four and five axis transformation (TRAORI)

Programming

The end orientation is either defined by specifying the angle programming in the Euler or RPY

angle using A2, B2, C2 or by programming the rotary axis positions using A, B, C. Further

programming details are needed for orientation axes along the peripheral surface of a taper:

● Rotary axis of taper as a vector with A6, B6, C6

● Opening angle PSI with identifier NUT

● Intermediate orientation outside of the taper with A7, B7, C7

Note

Programming direction vector A6, B6, C6 for the rotary axis of the taper

The programming of an end orientation is not absolutely necessary. If no end orientation

is specified, a full outside taper with 360 degrees is interpolated.

Programming the opening angle of the taper with NUT=angle

An end orientation must be specified.

A complete outside taper with 360 degrees cannot be interpolated in this way.

Programming the intermediate orientation A7, B7, C7 on the outside of the taper

An end orientation must be specified. The change in orientation and the direction of rotation

is defined uniquely by the three vectors Start orientation, End orientation and Intermediate

orientation. All three vectors must be different. If the programmed intermediate orientation

is parallel to the start or end orientation, a linear large-circle interpolation of the orientation

is executed in the plane that is defined by the start and end vector.

Extended orientation interpolation on the peripheral surface of a taper

N... ORICONCW or ORICONCCW

Interpolation on the outside of a taper with

N... A6= B6= C6= A3= B3= C3=

direction vector in the clockwise/counter-

clockwise direction of the taper and end ori-

or

entation or

N... ORICONTO

tangential transition and

N... G1 X Y Z A6= B6= C6=

specification of end orientation

or

or

N... ORICONIO

specification of end orientation and

N... G1 X Y Z A7= B7= C7=

intermediate orientation on the outside of

the taper with

N... PO[PHI]=(a2, a3, a4, a5)

polynomials for angle of rotation and

N... PO[PSI]=(b2, b3, b4, b5)

polynomials for opening angle

Parameters

ORIPLANE:

Interpolation in the plane (large-circle interpolation)

ORICONCW:

Interpolation on the peripheral surface of a taper in the clockwise di-

rection

ORICONCCW:

Interpolation on the peripheral surface of a taper in the counter-clock-

wise direction

Job Planning

Programming Manual, 12/2018, A5E40869460B AB

339

Transformations

7.4 Rotations of the tool orientation (ORIROTA, ORIROTR, ORIROTT, ORIROTC, THETA)

7.4

Rotations of the tool orientation (ORIROTA, ORIROTR, ORIROTT,

ORIROTC, THETA)

If you also want to be able to change the orientation of the tools on machine types with movable

tools, program each block with end orientation. Depending on the machine kinematics you can

either program the orientation direction of the orientation axes or the direction of rotation of

orientation vector THETA. Different interpolation types can be programmed for these rotation

vectors:

● ORIROTA: Angle of rotation to an absolute direction of rotation.

● ORIROTR: Angle of rotation relative to the plane between the start and end orientation.

● ORIROTT: Angle of rotation relative to the change in the orientation vector.

● ORIROTC: Tangential angle of rotation to the path tangent.

Syntax

Only if interpolation type ORIROTA is active can the angle of rotation or rotation vector be

programmed in all four modes as follows:

1. Directly as rotary axis positions A, B, C

2. Euler angles (in degrees) with A2, B2, C2

3. RPY angles (in degrees) with A2, B2, C2

4. Direction vector via A3, B3, C3 (angle of rotation using THETA=<value>)

If ORIOTR or ORIOTT is active, the angle of rotation can only be programmed directly with

THETA.

A rotation can also be programmed in a separate block without an orientation change taking

place. In this case, ORIROTR and ORIROTT are irrelevant. In this case, the angle of rotation

is always interpreted with reference to the absolute direction (ORIROTA).

N... ORIROTA

Define the interpolation of the rotation vector

N... ORIROTR

N... ORIROTT

N... ORIROTC

N... A3= B3= C3= THETA=<value> Define the rotation of the orientation vector

N... PO[THT]=(d₂, d₃, d₄, d₅)

Interpolate angle of rotation with a 5th order polyno-

mial

Meaning

ORIROTA:

Angle of rotation to an absolute direction of rotation

ORIROTR:

Angle of rotation relative to the plane between the start and end orientation

ORIROTT:

Angle of rotation as a tangential rotation vector to the change of orientation

ORIROTC:

Angle of rotation as a tangential rotation vector to the path tangent

THETA:

Rotation of the orientation vector

Job Planning

346

Programming Manual, 12/2018, A5E40869460B AB

Transformations

7.4 Rotations of the tool orientation (ORIROTA, ORIROTR, ORIROTT, ORIROTC, THETA)

THETA=<value>:

Angle of rotation in degrees reached by the end of the block

THETA=Θe:

Angle of rotation with end angle Θ_e of rotation vector

THETA=AC(…):

Non-modal switchover to absolute dimensions

THETA=AC(…):

Non-modal switchover to incremental dimensions

Θe:

End angle of rotational vector both absolute with G90 and relative with G91

(incremental dimensioning) is active

PO[THT]=(

):

Polynomial for angle of rotation

Example: Rotations of the orientations

Program code

Comment

N10 TRAORI

; Activate orientation transformation

N20 G1 X0 Y0 Z0 F5000

; Tool orientation

N30 A3=0 B3=0 C3=1 THETA=0

; In Z direction with angle of rotation 0

N40 A3=1 B3=0 C3=0 THETA=90

;In X direction and rotation about 90 degrees

N50 A3=0 B3=1 C3=0 PO[THT]=(180,90)

;Orientation

N60 A3=0 B3=1 C3=0 THETA=IC(-90)

;In Y direction and rotation about 180 degrees

N70 ORIROTT

;Remains constant and rotation to 90 degrees

N80 A3=1 B3=0 C3=0 THETA=30

;Angle of rotation relative to change of ori-

entation

;Rotation vector in angle 30 degrees to X/Y

plane

When interpolating block N40, the angle of rotation from initial value of 0 degrees to final value

of 90 degrees is interpolated linearly. In block N50, the angle of rotation changes from 90

degrees to 180 degrees, according to parabola θ(u) = +90u2. In N60, a rotation can also be

executed without a change in orientation taking place.

With N80, the tool orientation is rotated from the Y direction toward the X direction. The change

in orientation takes place in the X/Y plane and the rotation vector describes an angle of 30

degrees to this plane.

Further information

ORIROTA

The angle of rotation THETA is interpolated with reference to an absolute direction in space.

The basic direction of rotation is defined in the machine data.

ORIROTR

The angle of rotation THETA is interpreted relative to the plane defined by the start and end

orientation.

ORIROTT

The angle of rotation THETA is interpreted relative to the change in orientation. For THETA=0

the rotation vector is interpolated tangentially to the change in orientation and only differs from

ORIROTR if at least one polynomial has been programmed for "tilt angle PSI" for the orientation.

The result is a change in orientation that is not executed in the plane. An additional angle of

Job Planning

Programming Manual, 12/2018, A5E40869460B AB

347

Content      ..     3      4      5      6     ..