Transformations
7.2 Three, four and five axis transformation (TRAORI)
Job planning
Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
7-13
Orientation transformation always points from the tool tip to the tool adapter.
Example of generic transformations
The basic orientation of the tool is indicated as follows:
TRAORI(1,0,0,1) Z direction
TRAORI(1,0,1,0) Y direction
TRAORI(1,0,1,1) Y/Z direction (corresponds to the position -45°)
Offset for orientation axes
When orientation transformation is activated an additional offset can be programmed directly
for the orientation axes.
Parameters can be omitted if the correct sequence is used in programming.
Example
TRAORI(, , , ,A,B) if only a single offset is to be entered.
As an alternative to direct programming, the additional offset for orientation axes can also be
transferred automatically from the zero offset currently active. Transfer is configured in the
machine data.
7.2.3 Variants of orientation programming and initial setting (OTIRESET)
Orientation programming of tool orientation with TRAORI
In conjunction with a programmable TRAORI orientation transformation, in addition to the
linear axes X, Y, Z, the round axis identifiers A.., B..., C... can also be used to program axis
positions or virtual axes with angles or vector components. Various types of interpolation are
possible for orientation and machine axes. Regardless of which PO[angle] orientation
polynomials and PO[axis] axis polynomials are currently active, a number of different types
of polynomial can be programmed. These include G1, G2, G3, CIP or POLY.
Changes in tool orientation can even be programmed using orientation vectors in some
cases. In such cases, the ultimate orientation of each block can be set either by means of
direct programming of the vector or by programming the rotary axis positions.
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