Transformations
6.2 Three, four and five axis transformation (TRAORI)
Job planning
326 Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
Description
5-axis programs are usually generated by CAD/CAM systems and not entered at the control.
So the following explanations are directed mainly at programmers of postprocessors.
The type of orientation programming is defined in G code group 50:
ORIEULER via Euler angle
ORIRPY via RPY angle (rotation sequence ZYX)
ORIVIRT1 via virtual orientation axes (definition 1)
ORIVIRT2 via virtual orientation axes (definition 2)
ORIAXPOS via virtual orientation axes with round axis positions
ORIPY2 via RPY angle (rotation sequence XYZ)
Machine manufacturer
The machine manufacturer can use machine data to define various variants. Please refer to
the machine manufacturer's instructions.
Programming in Euler angles ORIEULER
The values programmed during orientation programming with A2, B2, C2 are interpreted as
Euler angles (in degrees).
The orientation vector results from turning a vector in the Z direction firstly with
A2 around the
Z axis, then with
B2 around the new X axis and lastly with C2 around the new Z axis.
ZLWK$ r
WXUQHGDWWKH
=D[LV
ZLWK% r
DOVRWXUQHGDWWKH
;D[LV
,QLWLDOVHWWLQJ
<
%
=
=
;
<
<
<
<
;
;
=
=
=
<
;
=
;
;
<
In this case the value of
C2 (rotation around the new Z axis) is meaningless and does not
have to be programmed.
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