Transformations
6.2 Three, four and five axis transformation (TRAORI)
Job planning
Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
341
Parameters
ORICURVE Interpolation of the orientation specifying a movement
between two contact points of the tool
XH YH ZH Identifiers of the coordinates of the second contact
point of the tool of the additional contour as a curve
in space
Possible polynomials
PO[XH]=(xe, x2, x3, x4,
x5) PO[YH]=(ye, y2, y3,
y4, y5) PO[ZH]=(ze, z2,
z3, z4, z5)
Apart from using the appropriate end points, the curves
in space can also be programmed using polynomials.
xe, ye, ze End points of the curve in space
xi, yi, zi Coefficients of the polynomials up to the 5th degree
Note
Identifiers XH YH ZH for programming a second orientation path
The identifiers must be selected such that no conflict arises with the other identifiers or linear
axes
X Y Z axes
and rotary axes such as
A2 B2 C2 Euler angle or RPY angle
A3 B3 C3 direction vectors
A4 B4 C4 or A5 B5 C5 surface normal vectors
A6 B6 C6 rotation vectors or A7 B7 C7 intermediate point coordinates
or other interpolation parameters.
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