Transformations
6.2 Three, four and five axis transformation (TRAORI)
Job planning
338 Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
Parameter
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)
PHI Angle of rotation of the orientation about the direction axis of
the taper
PSI Opening angle of the taper
Possible polynomials
PO[PHI]=(a2, a3, a4, a5)
PO[PSI]=(b2, b3, b4, b5)
Apart from the different angles, polynomials can also be
programmed up to the 5th degree
Example of different changes to orientation
…
N10 G1 X0 Y0 F5000
N20 TRAORI(1) ; Orientation transformation on.
N30 ORIVECT ; Interpolate tool orientation as a vector.
… ; Tool orientation in the plane.
N40 ORIPLANE ; Select large-radius circular interpolation.
N50 A3=0 B3=0 C3=1
N60 A3=0 B3=1 C3=1 ; Orientation in the Y/Z plane is rotated
through 45 degrees, orientation (0,1,
2,1/√2, 1/√2) is reached at the end of the
block.
…
N70 ORICONCW ; Orientation programming on the outside of
the taper:
N80 A6=0 B6=0 C6=1 A3=0 B3=0 C3=1 ; The orientation vector is interpolated on
the outside of a taper with the direction
(0,0,1) up to the orientation (1/√2,0,1/√2)
in the clockwise sense, the angle of
rotation is 270 degrees.
N90 A6=0 B6=0 C6=1 ; The tool orientation goes through a full
revolution on the outside of the same taper.
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