Siemens SINUMERIK 840D sl Function Manual

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of the plane then specifies the axis, around which the other axis of the plane must be rotatedin order to move this into the line of intersection, which the rotated plane forms with the planesurrounded by the other and the third axis. This definition ensures that, in the case that oneof the two programmed angles is towards zero, the defined plane enters the plane, which iscreated if only one axis is programmed (e.g. with ROT or AROT).The diagram shows an example where X and Y are programmed. Y specifies the angle here,through which the X axis must rotate around the Y axis to bring the X axis to the line ofintersection formed by the inclined plane and the X-Z plane. The same principle applies forthe programmed value of X.NoteIn the shown position of the inclined plane the value of Y is positive, that of X on the other handnegative.The specification of the solid angle does not define the orientation of the two-dimensionalcoordinate system within the plane (i.e. the angle of rotation around the surface normal vector).The position of the coordinate system is thus determined so that the rotated first axis lies inthe plane which is formed by the first and third axes of the non-rotated coordinate system.This means that● When programming X and Y the new X axis lies in the old Z-X plane.● When programming Z and X the new Z axis lies in the old Y-Z plane.● When programming Y and Z the new Y axis lies in the old X-Y plane.If the required coordinate system does not correspond to this basic setting, then an additionalrotation must be performed with AROT....The programmed solid angles are converted to the equivalent Euler angles according to thezy'x" convention (RPY angle) or zx'z" convention when entering depending on the machinedata:MD10600 $MN_FRAME_ANGLE_INPUT_MODE.These then appear in the display.Frame rotation in tool directionWith the language command TOFRAME, which also existed in older software versions, it ispossible to define a frame whose Z axis points in the tool direction.An already programmed frame is then overwritten by a frame which describes a pure rotation.Any work offsets, mirrorings or scalings existing in the previously active frame are deleted.This response is sometimes interfering. It is often particularly practical to retain a work offset,with which the reference point in the workpiece is defined.The language command TOROT is then also used. This command overwrites only the rotationcomponent in the programmed frame and leaves the remaining components unchanged. Therotation defined with TOROT is the same as that defined with TOFRAME.TOROT is, like TOFRAME, independent of the availability of an orientable toolholder. Thislanguage command is also especially useful for 5-axis transformations.The new language command TOROT ensures consistent programming with active orientabletoolholders for each kinematics type.K2: Axis Types, Coordinate Systems, Frames10.5 FramesBasic FunctionsFunction Manual, 01/2015, 6FC5397-0BP40-5BA2 775