Transformations
7.5 Orientations relative to the path
Job planning
7-42 Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
Orientation direction of the tool for 3-axis to 5-axis transformation
The orientation direction of the tool can be programmed via Euler angles, RPY angles or
direction vectors as with 3-axis to 5-axis transformations. Orientation changes of the tool in
space can also be achieved by programming the large-radius circular interpolation
ORIVECT, linear interpolation of the orientation axes ORIAXES, all interpolations on the
peripheral surface of a taper ORICONxx, and interpolation in addition to the curve in space
with two contact points of the tool ORICURVE.
G.... Details of the rotary axis motion
X Y Z Details of the linear axes
ORIAXES Linear interpolation of machine or orientation axes
ORIVECT Large-radius circular interpolation (identical to
ORIPLANE)
ORIMKS
ORIWKS
Rotation in the machine coordinate system
Rotation in the workpiece coordinate system
Description, see the Rotations of the tool orientation
section
A= B= C= Programming the machine axis position
ORIEULER Orientation programming via Euler angle
ORIRPY Orientation programming via RPY angle
A2= B2= C2= Angle programming of virtual axes
ORIVIRT1
ORIVIRT2
Orientation programming using virtual orientation axes
(definition 1), definition according to
MD $MC_ORIAX_TURN_TAB_1
(definition 2), definition according to
MD $MC_ORIAX_TURN_TAB_2
A3= B3= C3= Direction vector programming of direction axis
ORIPLANE Interpolation in the plane (large-radius circular
interpolation)
ORICONCW Interpolation on the peripheral surface of a taper in the
clockwise direction
ORICONCCW Interpolation on the peripheral surface of a taper in the
counterclockwise direction
ORICONTO Interpolation on the peripheral surface of a taper with
tangential transition
A6= B6= C6= Programming of a rotary axis of the taper (normalized
vector)
NUT=angle Opening angle of taper in degrees
NUT=+179 Traverse angle smaller than or equal to 180 degrees
NUT=-181 Traverse angle greater than or equal to 180 degrees
ORICONIO Interpolation on the peripheral surface of a taper
A7= B7= C7= Intermediate orientation (programming as normalized
vector)
ORICURVE
XH YH ZH, e.g., with
polynomials PO[XH]=(xe,
x2, x3, x4, x5)
Interpolation of the orientation specifying a movement
between two contact points of the tool. In addition to
the end points, additional curve polynomials can also be
programmed.
Note
If the tool orientation with active ORIAXES is interpolated via the orientation axes, the angle
of rotation is only initiated relative to the path at the end of block.
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