Transformations
7.2 Three, four and five axis transformation (TRAORI)
Job planning
7-30 Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
Example of different changes to orientation
…
N10 G1 X0 Y0 F5000
N20 TRAORI(1) ;Orientation transformation ON
N30 ORIVECT ;Interpolate tool orientation as a vector
… ;Tool orientation in the plane
N40 ORIPLANE ;Select large-radius circular interpolation
N50 A3=0 B3=0 C3=1
N60 A3=0 B3=1 C3=1 ;Orientation in the Y/Z plane is rotated about
;45 degrees; at the end of block, the
;orientation (0, 1/√2, 1/√2) is reached.
… ;Orientation programming on outside of the
;taper
N70 ORICONCW ;Orientation vector is interpolated in the
;clockwise direction on the outside of the
;taper with the
N80 A6=0 B6=0 C6=1 A3=0 B3=0 C3=1 ;direction (0,0,1) to orientation
;(1/√2, 0, 1/√2)
;the angle of rotation is 270 degrees.
N90 A6=0 B6=0 C6=1 ;The tool orientation goes through a full
;revolution on the outside of the same taper.
Description
If changes of orientation along the peripheral surface of a taper anywhere in space are to be
described, the vector about which the tool orientation is to be rotated must be known. The
start and end orientation must also be specified. The start orientation results from the
previous block and the end orientation has to be programmed or defined via other
conditions.
Programming in the ORIPLANE plane corresponds to ORIVECT
The programming of large-radius circular interpolation together with angle polynomials
corresponds to the linear and polynomial interpolation of contours. The tool orientation is
interpolated in a plane that is defined by the start and end orientation. If additional
polynomials are programmed, the orientation vector can also be tilted out of the plane.
Programming of circles in a plane G2/G3, CIP and CT
The extended orientation corresponds to the interpolation of circles in a plane. For the
corresponding programming options for circles with centers or radii such as G2/G3, circle via
intermediate point CIP and tangential circles CT, see
References: Programming Manual Fundamentals, "Programming motion commands".
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