Transformations
6.2 Three, four and five axis transformation (TRAORI)
Job planning
334 Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
Programming
Axis identifiers A2, B2 and C2 are used to program the orientation axes.
N... ORIAXES or ORIVECT
N... G1 X Y Z A B C
or
N... ORIPLANE
or
N... ORIEULER or ORIRPY/ORIRPY2
N... G1 X Y Z A2= B2= C2=
or
N... ORIVIRT1 or ORIVIRT2
N... G1 X Y Z A3= B3= C3=
Linear or large-radius circular interpolation
or
orientation interpolation of the plane
or
Orientation angle Euler/RPY angle
Angle programming of virtual axes
or
definition 1 or 2 direction vector programming
of virtual orientation axes
Other rotary axis offsets of the orientation axes can be programmed for orientation changes
along the peripheral surface of a taper in space; see "Orientation programming along the
peripheral surface of a taper (ORIPLANE, ORICONxx)".
Parameter
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. The rotation
sequence is XYZ and:
A2 is the rotation angle around X
B2 is the rotation angle around Y
C2 is the rotation angle around Z
ORIRPY2 Orientation programming via RPY angle. The rotation
sequence is ZYX and:
A2 is the rotation angle around Z
B2 is the rotation angle around Y
C2 is the rotation angle around X
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
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