Transformations
6.3 Orientation polynomials (PO[angle], PO[coordinate])
Job planning
Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
343
Meaning
PO[PHI]
Angle in the plane between start and end orientation
PO[PSI]
Angle describing the tilt of the orientation from the plane between start and end
orientation
PO[THT]
Angle of rotation created by rotating the rotation vector of one of the G codes
of group 54 that is programmed using THETA
PHI
Lead angle LEAD
PSI
Tilt angle TILT
THETA
Rotation about the tool direction in Z
PO[XH]
X coordinate of the reference point on the tool
PO[YH]
Y coordinate of the reference point on the tool
PO[ZH]
Z coordinate of the reference point on the tool
Description
Orientation polynomials cannot be programmed:
● If ASPLINE, BSPLINE, CSPLINE spline interpolations are active.
Type 1 polynomials for orientation angles are possible for every type of interpolation
except spline interpolation, that is, linear interpolation with rapid traverse G00 or with
feedrate G01 with polynomial interpolation using POLY and circular/involute interpolation
G02, G03, CIP, CT, INVCW and INCCCW.
However, type 2 polynomials for orientation coordinates are only possible if linear
interpolation with rapid traverse G00 or with feedrate G01 or polynomial interpolation with
POLY is active.
● If the orientation is interpolated using ORIAXES axis interpolation. In this case, poly-
nomials can be programmed directly with PO[A] and PO[B] for orientation axes A and B.
Type 1 orientation polynomials with ORIVECT, ORIPLANE and ORICONxx
Only type 1 orientation polynomials are possible for large-radius circular interpolation and
interpolation outside of the taper with ORIVECT, ORIPLANE and ORICONxx.
Type 2 orientation polynomials with ORICURVE
If interpolation with the additional curve in space ORICURVE is active, the Cartesian
components of the orientation vector are interpolated and only type 2 orientation polynomials
are possible.
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