Transformations
7.5 Orientations relative to the path
Job planning
Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
7-37
ORIROTT
The angle of rotation THETA is interpreted relative to the change in orientation. For THETA=0
the rotation vector is interpolated tangentially to the change in orientation and only differs
from ORIROTR if at least one polynomial has been programmed for "tilt angle PSI" for the
orientation. The result is a change in orientation that is not executed in the plane. An
additional angle of rotation THETA can then be used to interpolate the rotation vector such
that it always produces a specific value referred to the change in orientation.
ORIROTC
The rotation vector is interpolated relative to the path tangent with an offset that can be
programmed using the THETA angle. A polynomial PO[THT]=(c2, c3, c4, c5) up to
the 5th degree can also be programmed for the offset angle.
7.5 7.5 Orientations relative to the path
7.5.1 Orientation types relative to the path
Function
By using this expanded function, relative orientation is not only achieved at the end of the
block, but across the entire trajectory. The orientation achieved in the previous block is
transferred to the programmed end orientation using large-radius circular interpolation. There
are basically two ways of programming the desired orientation relative to the path:
1. Like the tool rotation, the tool orientation is interpolated relative to the path using
ORIPATH, ORPATHTS.
2. The orientation vector is programmed and interpolated in the usual manner. The rotation
of the orientation vector is initiated relative to the path tangent using ORIROTC.
Programming
The type of interpolation of the orientation and the rotation of the tool is programmed using:
N... ORIPATH
Orientation relative to the path
N... ORIPATHS
Orientation relative to the path with smoothing of
orientation characteristic
N... ORIROTC
Interpolation of the rotation vector relative to the
path
An orientation blip caused by a corner on the trajectory can be smoothed using ORIPATHS.
The direction and path length of the retracting movement is programmed via the vector using
the components A8=X, B8=Y C8=Z.
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