Transformations
7.5 Orientations relative to the path
Job planning
7-40 Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
Parameters
Tool orientation relative to the path
ORIPATH Tool orientation relative to the path
ORIPATHS Tool orientation relative to the path; blip in
orientation characteristic is smoothed
LEAD Angle relative to the surface normal vector in the plane
that is defined by the path tangent and the surface
normal vector
TILT Rotation of orientation in the Z direction or rotation
about the path tangent
THETA Rotation about the tool direction toward Z
PO[PHI] Orientation polynomial for the LEAD angle
PO[PSI] Orientation polynomial for the TILT angle
PO[THT] ( Orientation polynomial for the THETA angle of rotation
Note
Angle of rotation THETA
A 6-axis transformation is required to rotate a tool with a third rotary axis that acts as an
orientation axis about itself.
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