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
Work preparation
3.9 Transformations
NC programming
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0 677
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