Transformations
7.2 Three, four and five axis transformation (TRAORI)
Job planning
Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
7-23
Regardless of the active G17 to G19 level, in the initial setting, surface normal vectors point
in the Z direction.
The length of a vector is meaningless.
Vector components that have not been programmed are set to zero.
With active ORIWKS (see "Reference of the orientation axes (ORIWKS, ORIMKS)") , the
surface normal vectors relate to the active frame and rotate when the frame rotates.
Machine manufacturer
The surface normal vector must be perpendicular to the path tangent, within a limit value set
via machine data, otherwise an alarm will be output.
7.2.6 Orientation axis reference (ORIWKS, ORIMKS)
Function
For orientation programming in the workpiece coordinate system using
• Euler or RPY angle or
• orientation vector
the motion of the rotary motion can be set using ORIMKS/ORIWKS.
Machine manufacturer
Machine data $MC_ORI_IPO_WITH_G_CODE specifies the active interpolation mode:
ORIMKS/ORIWKS
or
ORIMACHAX/ORIVIRTAX.
Programming
N.. ORIMKS=
or
N.. ORIWKS=
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