Siemens sinumerik 840d Programming Manual page 225

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Programming in RPY angles

The values programmed for the orientation with A2,

B2, C2 are interpreted as RPY angles (in degrees).

The orientation vector is produced by rotating a

vector in the Z direction first with C2 around the Z

axis, then with B2 around the new Y axis and finally

with A2 around the new X axis.

In contrast to Euler angle programming, all three

values determine the orientation vector.

Programming the direction vector

The components of the direction vector are

programmed with A3, B3, C3. The vector points in

the direction of the tool fixture the length of the

vector is irrelevant.

Unprogrammed vector components are set to zero.

SINUMERIK 840D/840Di/810D/FM-NC Programming Guide Advanced (PGA) − 04.00 Edition

7.1 Three, four and five-axes transformation: TRAORI

Transformations

Basic setting

With A2 = 30°

rotating around

the rotating

With C2 = 90°

rotating around

with B2 = +45°

rotating around

rotating Y axis

Direction vector

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