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SINUMERIK 840D sl/828D. Job Planning. Programming Manual (2010-2018) - page 18

Special Motion Commands

4.8 Extended measuring function (MEASA, MEAWA, MEAC) (option)

The second digit (units decade) selects the required measuring mode. The measuring

process is thus adapted to the options supported by the relevant control:

● Mode 1

Trigger events are evaluated in the chronological sequence in which they occur. When

this mode is selected, only one trigger event can be programmed for six-axis modules. If

more than one trigger event is specified, the mode selection is switched automatically to

mode 2 (without message).

● Mode 2

Trigger events are evaluated in the programmed sequence.

● Mode 3

Trigger events are evaluated in the programmed sequence but there is no monitoring of

trigger event 1 at START.

Note

No more than two trigger events can be programmed if two measuring systems are in

use.

Measuring with and without deletion of distance-to-go

When command MEASA is programmed, the distance-to-go is not deleted until all required

measured values have been recorded.

The MEAWA function is used in the case of special measuring tasks where a programmed

position always needs to be approached.

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Special Motion Commands

4.8 Extended measuring function (MEASA, MEAWA, MEAC) (option)

Measurement job with two measuring systems

If a measuring job is executed by two measuring systems, each of the two possible trigger

events of both measuring systems of the relevant axis is acquired. The assignment of the

reserved variables is therefore preset:

$AA_MM1[<axis>]

$AA_MW1[<axis>]

or

Measured value from

measuring system 1 on trigger

event 1

$AA_MM2[<axis>]

$AA_MW2[<axis>]

or

Measured value from

measuring system 2 on trigger

event 1

$AA_MM3[<axis>]

$AA_MW3[<axis>]

or

Measured value from

measuring system 1 on trigger

event 2

$AA_MM4[<axis>]

$AA_MW4[<axis>]

or

Measured value from

measuring system 2 on trigger

event 2

Probe status

The probe status is available in the following system variables:

$A_PROBE[<n>]

<n>=probe

Value

Significance

1

Probe deflected

0

Probe not deflected

Measuring job status for MEASA, MEAWA

If an evaluation is required in the program, the measuring task status can be checked via

$AC_MEA[n], where <n> = number of probe. Once all the trigger events of probe <n> that

are programmed in a block have occurred, this variable returns a value of "1". Otherwise, its

value is 0.

Note

If measurement is started from synchronized actions, $AC_MEA is no longer updated. In this

case, new PLC status signals DB31, … DBX62.3 or the equivalent variable

$AA_MEAACT[<axis>] must be checked.

Meaning:

$AA_MEAACT==1: Measurement active

$AA_MEAACT==0: Measurement not active

Continuous measurement (MEAC)

The measured values for MEAC are available in the machine coordinate system and stored in

the programmed FIFO[n] memory (circular buffer). If two probes are configured for the

measurement, the measured values of the second probe are stored separately in the

FIFO[n+1] memory configured especially for this purpose (defined in machine data).

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Coordinate transformation (FRAMES)

5

5.1

Coordinate transformation via frame variables

Function

In addition to the programming options already described in the Programming Manual

"Fundamentals", you can also define coordinate systems with predefined frame variables.

The following coordinate systems are defined:

MCS: Machine coordinate system

BCS: Basic coordinate system

BZS: Basic origin system

SZS: Settable zero system

WCS: Workpiece coordinate system

What is a predefined frame variable?

Predefined frame variables are keywords whose use and effect are already defined in the

control language and that can be processed in the NC program.

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Coordinate transformation (FRAMES)

5.1 Coordinate transformation via frame variables

Possible frame variable:

● Basic frame (basic offset)

● Settable frames

● Programmable frame

Value assignments and reading the actual values

Frame variable/frame relationship

A coordinate transformation can be activated by assigning the value of a frame to a frame

variable.

Example: $P_PFRAME=CTRANS(X,10)

Frame variable:

$P_PFRAME means: current programmable frame.

Frame:

CTRANS(X,10) means: programmable zero offset of X axis by 10 mm.

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Reading the actual values

The current actual values of the coordinate system can be read out via predefined variables

in the parts program:

$AA_IM[axis]: Read actual value in MCS

$AA_IB[axis]: Read actual value in BCS

$AA_IBN[axis]: Read actual value in BOS

$AA_IEN[axis]: Read actual value in SZS

$AA_IW[axis]: Read actual value in WCS

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Coordinate transformation (FRAMES)

5.1 Coordinate transformation via frame variables

5.1.1

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

$P_ACTFRAME)

$P_BFRAME

Current basic frame variable that establishes the reference between the basic coordinate

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

For the basic frame described via $P_UBFR to be immediately active in the program, either

● you have to program a G500, G54...G599, or

● you have to describe $P_BFRAME with $P_UBFR

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Coordinate transformation (FRAMES)

5.1 Coordinate transformation via frame variables

$P_IFRAME

Current, settable frame variable that establishes 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.

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Coordinate transformation (FRAMES)

5.1 Coordinate transformation via frame variables

$P_PFRAME

Current, programmable frame variable that establishes 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

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Current, resulting complete frame that results from chaining

● the current basic frame variable $P_BFRAME,

● the currently settable frame variable $P_IFRAME with system frames and

● the currently programmable frame variable $P_IFRAME with system frames.

System frames, see Section "Frames that Act in the Channel"

$P_ACTFRAME describes the currently valid workpiece zero.

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Coordinate transformation (FRAMES)

5.1 Coordinate transformation via frame variables

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$P_ACTFRAME corresponds to $P_BFRAME:$P_IFRAME:$P_PFRAME

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Coordinate transformation (FRAMES)

5.1 Coordinate transformation via frame variables

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

Predefined settable frames $P_UBFR

The basic frame is programmed with $P_UBFR, but it is not simultaneously active in the

parts program. The basic frame programmed with $P_UBFR is included in the calculation if

● Reset was activated and bits 0 and 14 are set in MD RESET_MODE_MASK and

● the statements G500,G54...G599 were executed.

Predefined settable frames $P_UIFR[n]

The predefined frame variable $P_UIFR[n] can be used to read or write the settable zero

offsets G54 to G599 from the parts program.

These variables produce a one-dimensional array of type FRAME called $P_UIFR[n].

Assignment to G commands

As standard, five settable frames $P_UIFR[0]... $P_UIFR[4] or five equivalent G commands

- G500 and G54 to G57 , can be saved using their address values.

$P_IFRAME=$P_UIFR[0] corresponds to G500

$P_IFRAME=$P_UIFR[1] corresponds to G54

$P_IFRAME=$P_UIFR[2] corresponds to G55

$P_IFRAME=$P_UIFR[3] corresponds to G56

$P_IFRAME=$P_UIFR[4] corresponds to G57

You can change the number of frames with machine data:

$P_IFRAME=$P_UIFR[5] corresponds to G505

$P_IFRAME=$P_UIFR[99] corresponds to G599

Note

This allows you to generate up to 100 coordinate systems, which can be called up globally in

different programs, for example, as zero point for various fixtures.

CAUTION

Frame variables must be programmed in a separate NC block in the NC program.

Exception: programming of a settable frame with G54, G55, ...

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Coordinate transformation (FRAMES)

5.2 Frame variables/assigning values to frames

Example

Translation, rotation and mirroring are activated by value assignment to the current

programmable frame.

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Frame-red components are pre-assigned other values

With CROT, pre-assign all three UIFR components with values

Program code

Comments

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

N100 $P_UIFR[5, y, rt]=0

N100 $P_UIFR[5, x, rt]=0

N100 $P_UIFR[5, z, rt]=0

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Coordinate transformation (FRAMES)

5.2 Frame variables/assigning values to frames

Description

You can program several arithmetic rules in succession.

Example:

$P_PFRAME=CTRANS(…):CROT(…):CSCALE…

Please note that the commands must be connected by the colon chain operator: (...):(...).

This causes the commands firstly to be linked and secondly to be executed additively in the

programmed sequence.

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Note

The values programmed with the above commands are assigned to the frames and stored.

The values are not activated until they are assigned to the frame of an active frame variable

$P_BFRAME or $P_PFRAME.

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Coordinate transformation (FRAMES)

5.2 Frame variables/assigning values to frames

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].

5.2.3

Linking complete frames

Function

A complete frame can be assigned to another frame or frames can be chained to each other

in the NC program.

Frame chaining is suitable for the description of several workpieces, arranged on a pallet,

which are to be machined in the same process.

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tasks. These are chained to generate various workpiece zeroes.

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Coordinate transformation (FRAMES)

5.3 Coarse and fine offsets (CFINE, CTRANS)

5.3

Coarse and fine offsets (CFINE, CTRANS)

Function

Fine offset

A fine offset of the basic frames and of all other settable frames can be programmed with

command CFINE (X, ..,Y, ...).

A fine offset can only be made if MD18600 $MN_MM_FRAME_FINE_TRANS=1.

Rough offset

The coarse offset is defined with CTRANS(...).

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Coarse and fine offset add up to the total offset.

Syntax

$P_UBFR=CTRANS(x, 10) : CFINE(x, 0.1) :

CROT(x, 45)

;Chaining of offset,

;fine offset and rotation

$P_UIFR[1]=CFINE(x, 0.5 y, 1.0, z, 0.1)

;The complete frame will be

;overwritten with CFINE

;including the coarse offset

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Coordinate transformation (FRAMES)

5.4 External zero offset

5.4

External zero offset

Function

This is another way of moving the zero point between the basic and workpiece coordinate

system.

Only linear translations can be programmed with the external zero offset.

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Programming

The $AA_ETRANS offset values are programmed by assigning the axis-specific system

variables.

Assigning offset value

$AA_ETRANS[axis]=RI

RI is the arithmetic variable of type REAL that contains the new value.

The external offset is generally set by the PLC and not specified in the parts program.

Note

The value entered in the parts program only becomes active when the corresponding signal

is enabled at the VDI interface

(NCU-PLC interface).

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Coordinate transformation (FRAMES)

5.5 Preset offset (PRESETON)

5.5

Preset offset (PRESETON)

Function

In special applications, it can be necessary to assign a new programmed actual value to one

or more axes at the current position (stationary).

CAUTION

The reference point becomes invalid with the function PRESETON. You should therefore

only use this function for axes which do not require a reference point. If the original system

is to be restored, the reference point must be approached with G74 - see the "File and

Program Management" section.

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PRESETON(axis, value)

Significance

PRESETON

Preset actual value memory

Axis

Machine axis parameter

Value

New actual value to apply to the specified axis

Note

Preset mode with synchronized actions should only be implemented with the keyword

"WHEN" or "EVERY".

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Coordinate transformation (FRAMES)

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

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.

Note

The frame created by MEAFRAME can be transformed by the ADDFRAME function into another

frame in the frame chain as from SW 6.3.

Example: chaining of frames "concatenation with ADDFRAME".

Further information for the parameters for ADDFRAME(FRAME, STRING) see

/FB1/ Function Manual Basic Functions; Axes, Coordinate Systems, Frames (K2), "FRAME

Chaining".

Example

Program code

Comments

; Part program 1

DEF FRAME CORR_FRAME

Setting measuring points

Programming

Comments

DEF REAL IDEAL_POINT[3,3] = SET(10.0,0.0,0.0, 0.0,10.0,0.0,

0.0,0.0,10.0)

DEF REAL MEAS_POINT[3,3] = SET

; for test

(10.1,0.2,-0.2, -0.2,10.2,0.1, -0.2,0.2,9.8)

DEF REAL FIT_QUALITY = 0

DEF REAL ROT_FRAME_LIMIT = 5

; Permits max. 5 degrees rotation of

the part position

DEF REAL FIT_QUALITY_LIMIT = 3

; Permits max. 3 mm offset between

the ideal and the measured

triangle

DEF REAL SHOW_MCS_POS1[3]

DEF REAL SHOW_MCS_POS2[3]

DEF REAL SHOW_MCS_POS3[3]

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Coordinate transformation (FRAMES)

5.7 NCU global frames

$P_CHBFRAME[n] Current channel basic frames

System variable $P_CHBFRAME[n] can be used to read and write the current channel basic

frame field elements. The resulting complete basic frame is calculated in the channel as a

result of the write operation. Whenever a basic frame is written, the complete basic frame is

calculated again.

$P_BFRAME Current first basic frame in the channel

The predefined frame variable $P_BFRAME can be used to read and write the current basic

frame with the field device of 0, which is valid in the channel, in the parts program. The

written basic frame is immediately included in the calculation.

$P_UBFR is identical to $P_CHBFR[0]. The system variable always has a valid default value. If

there is no channel-specific basic frame, an alarm is issued at read/write: "Frame: instruction

not permissible".

$P_ACTBFRAME Complete basic frame

The $P_ACTFRAME variable determines the chained complete basic frame. The variable is

read-only.

$P_ACTFRAME corresponds to

$P_NCBFRAME[0] : ... : $P_NCBFRAME[n] : $P_CHBFRAME[0] : ... : $P_CHBFRAME[n].

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Coordinate transformation (FRAMES)

5.7 NCU global frames

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

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Coordinate transformation (FRAMES)

5.7 NCU global frames

Frame chaining

The current frame consists of the total basic frame, the settable frame, the system frame,

and the programmable frame according to the current total frame mentioned above.

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Transformations

6.1 General programming of transformation types

6.1.1

Orientation movements for transformations

Travel movements and orientation movements

The traversing movements of the programmed orientations are determined primarily by the

type of machine. For three-, four-, and five-axis type transformations with TRAORI, the rotary

axes or pivoting linear axes describe the orientation movements of the tool.

Changes in the position of the rotary axes involved in the orientation transformation will

induce compensating movements on the remaining machine axes. The position of the tool tip

remains unchanged.

Orientation movements of the tool can be programmed using the rotary axis identifiers A…,

B…, C… of the virtual axes as appropriate for the application either by entering Euler or RPY

angles or directional or surface normal vectors, normalized vectors for the rotary axis of a

taper or for intermediate orientation on the peripheral surface of a taper.

In the case of kinematic transformation with TRANSMIT, TRACYL and TRAANG, the control

maps the programmed Cartesian coordinate system traversing movements to the traversing

movements of the real machine axes.

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.

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Transformations

6.1 General programming of transformation types

Example: Three- to five-axis transformation on a universal milling head

The machine tool has at least five axes:

● Three translatory axes for movements in straight lines, which move the operating point to

any position in the working area.

● Two rotary swivel axes arranged at a configurable angle (usually 45 degrees) allow the

tool to swivel to positions in space that are limited to a half sphere in a 45-degree

configuration.

6.1.2

Overview of orientation transformation TRAORI

Programming types available in conjunction with TRAORI

Machine type

Programming with active transformation TRAORI

Machine types 1, 2, or 3 two-

The axis sequence of the orientation axes and the orientation

axis swivel head or two-axis

direction of the tool can either be configured on a

rotary table or a combination

machine-specific basis using machine data

of single-axis swivel head and

depending on the machine kinematics or on a

single-axis rotary table.

workpiece-specific basis with programmable orientation

independently of the machine kinematics.

The directions of rotation of the orientation axes in the reference

system are programmed with:

- ORIMKS reference system = machine coordinate system

- ORIWKS reference system = workpiece coordinate system

The default setting is ORIWKS.

Programming of orientation axes with:

A, B, C of the machine axis position direct

A2, B2, C2 angle programming virtual axes with

- ORIEULER via Euler angle (standard)

- ORIRPY via RPY angle

- ORIVIRT1 via virtual orientation axes 1st definition

- ORIVIRT2 via virtual orientation axes 2nd definition

with differentiation between the interpolation type:

linear interpolation

- ORIAXES of orientation axes or machine axes

large radius circle interpolation (interpolation of the orientation vector)

- ORIVECT from orientation axes

Programming orientation axes by specifying

A3, B3, C3 of the vector components (direction/surface normal)

Programming the resulting tool orientation

A4, B4, C4 of the vector surface normal at the beginning of the block

A5, B5, C5 of the vector perpendicular to the surface at the end of

the block

LEAD leading angle for tool orientation

TILT tilt angle for the tool orientation

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Transformations

6.1 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

degree

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

degree

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

degree

- 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

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

additional tool rotation around

THETA= value reached at end of block

itself require a 3rd rotary axis

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

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

THETA=Θe interpolate programmed angle G90/G91

Orientation transformation,

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

e.g. generic 6-axis

programming of the rotation vector

transformation. Rotations of

- ORIROTA rotation, absolute

orientation vector.

- ORIROTR relative rotation vector

- ORIROTT tangential rotation vector

Orientation relative to the

Changes in orientation relative to the path with

path for orientation changes

- ORIPATH tool orientation relative to the path

relative to the path or rotation

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

of the rotary vector

characteristic

tangentially to the path

programming of rotation vector

- ORIROTC tangential rotation vector, rotation to path tangent

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Transformations

6.2 Three, four and five axis transformation (TRAORI)

6.2

Three, four and five axis transformation (TRAORI)

6.2.1

General relationships of universal tool head

Function

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.

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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°.

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Transformations

6.2 Three, four and five axis transformation (TRAORI)

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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.

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

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Transformations

6.2 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.

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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:

1st rotary axis

A A B B C C

2nd 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),

Universal Milling Head section, "Parameter Setting".

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Transformations

6.2 Three, four and five axis transformation (TRAORI)

Parameters

G

Details of the rotary axis motion

X Y Z

Details of the linear axes

A B C

Details of the machine axis positions of the

rotary axes

A2 B2 C2

Angle programming (Euler or RPY angle) of

virtual axes or orientation axes

A3 B3 C3

Details of the direction vector components

A4 B4 C4

Details, for example, for the face milling,

the component of the surface normal vector at

block start

A5 B5 C5

Details, for example, for the face milling,

the component of the surface normal vector at

block end

LEAD

Angle relative to the surface normal vector in

the plane put up by the path tangent and the

surface normal vector

TILT

Angle in the plane, perpendicular to the path

tangent relative to the surface normal vector

Example: Comparison without and with 5-axis transformation

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Transformations

6.2 Three, four and five axis transformation (TRAORI)

Description

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 type of orientation programming is defined in G code group 50:

ORIEULER via Euler angle

ORIRPY via RPY angle (rotation sequence ZYX)

ORIVIRT1 via virtual orientation axes (definition 1)

ORIVIRT2 via virtual orientation axes (definition 2)

ORIAXPOS via virtual orientation axes with round axis positions

ORIPY2 via RPY angle (rotation sequence XYZ)

Machine manufacturer

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

the machine manufacturer's instructions.

Programming in Euler angles ORIEULER

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

Euler angles (in degrees).

The orientation vector results from turning a vector in the Z direction firstly with A2 around the

Z axis, then with B2 around the new X axis and lastly with C2 around the new Z axis.

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have to be programmed.

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Transformations

6.2 Three, four and five axis transformation (TRAORI)

Programming in RPY angles ORIRPY

The values programmed with A2, B2, C2 for orientation programming are interpreted as an

RPY angle (in degrees).

Note

In contrast to Euler angle programming, all three values here have an effect on the

orientation vector.

Machine manufacturer

When defining angles with orientation angles via RPY angle, for the orientation axes

$MC_ORI_DEF_WITH_G_CODE = 0

The orientation vector results from turning a vector in the Z direction firstly with C2 around

the Z axis, then with B2 around the new Y axis and lastly with A2 around the new X axis.

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By defining the orientation axes via G code, if the machine data

$MC_ORI_DEF_WITH_G_CODE = 1, then:

The orientation vector results from turning a vector in the Z direction firstly with A2 around

the Z axis, then with B2 around the new X axis and lastly with C2 around the new Z axis.

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Transformations

6.2 Three, four and five axis transformation (TRAORI)

Programming of directional vector

The components of the direction vector are programmed with A3, B3, C3. The vector points

towards the tool adapter; the length of the vector is of no significance.

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

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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, B6, C5

● Lead angle LEAD

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

● Tilt angle TILT at the end of the block

vertical to the path tangent and relative to the surface normal vector

Behavior at inside corners (for 3D-tool compensation)

If the block is shortened at an inside corner, the resulting tool orientation is also achieved at

the end of the block.

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Transformations

6.2 Three, four and five axis transformation (TRAORI)

Definition of tool orientation with LEAD= and TILT=

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6.2.5

Face milling (3D-milling A4, B4, C4, A5, B5, C5)

Function

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

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Transformations

6.2 Three, four and five axis transformation (TRAORI)

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.

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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.

References:

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

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

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Transformations

6.2 Three, four and five axis transformation (TRAORI)

Note

SINUMERIK 840D with "handling transformation package"

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

geometry axes can be set separately from one another in the reference systems MCS, WCS

and TCS.

References:

/FB2/ Description of Functions Extended Functions; Kinematic Transformation (M1)

6.2.8

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

ORICONCW, ORICONCCW, ORICONTO, ORICONIO)

Function

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.

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