Note
Interpolation of the rotation vector ORIROTC
Initiating rotation of the tool relative to the path tangent in the opposite direction to the tool
orientation, is only possible with a 6-axis transformation.
With active ORIROTC
Rotation vector ORIROTA cannot be programmed. If programming is undertaken, ALARM
14128 "Absolute programming of tool rotation with active ORIROTC" is output.
Orientation direction of the tool for 3-axis to 5-axis transformation
The orientation direction of the tool can be programmed via Euler angles, RPY angles or
direction vectors as with 3-axis to 5-axis transformations. Orientation changes of the tool in
space can also be achieved by programming the large-circle interpolation ORIVECT, linear
interpolation of the orientation axes ORIAXES, all interpolations on the peripheral surface of a
taper ORICONxx, and interpolation in addition to the curve in space with two contact points of
the tool ORICURVE.
G....: Details of the rotary axis motion
X, Y, Z: Details of the linear axes
ORIAXES: Linear interpolation of machine or orientation axes
ORIVECT: Large-circle interpolation (identical to ORIPLANE)
ORIMKS:
ORIWKS:
Rotation in the machine coordinate system
Rotation in the workpiece coordinate system
Description, see the Rotations of the tool orientation section
A= B= C=: Programming the machine axis position
ORIEULER: Orientation programming via Euler angle
ORIRPY: Orientation programming via RPY angle
A2= B2= C2=: Angle programming of virtual axes
ORIVIRT1:
ORIVIRT2:
Orientation programming using virtual orientation axes
(definition 1), definition according to MD $MC_ORIAX_TURN_TAB_1
(definition 2), definition according to MD $MC_ORIAX_TURN_TAB_2
A3= B3= C3=: Direction vector programming of direction axis
ORIPLANE: Interpolation in the plane (large-circle interpolation)
ORICONCW: Interpolation on the peripheral surface of a taper in the clockwise direc‐
tion
ORICONCCW: Interpolation on the peripheral surface of a taper in the counter-clock‐
wise direction
ORICONTO: Interpolation on the peripheral surface of a taper with tangential transition
A6= B6= C6=: Programming of a rotary axis of the taper (normalized vector)
NUT=angle Opening angle of taper in degrees
NUT=+179 Traverse angle less than or equal to 180 degrees
NUT=-181 Traverse angle greater than or equal to 180 degrees
ORICONIO: Interpolation on the peripheral surface of a taper
Work preparation
3.9 Transformations
NC programming
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0 691
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