Transformations
6.4 Rotations of the tool orientation (ORIROTA, ORIROTR, ORIROTT, ORIROTC, THETA)
Job planning
Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
345
Significance
ORIROTA
Angle of rotation to an absolute direction of rotation.
ORIROTR
Angle of rotation relative to the plane between the start and end
orientation.
ORIROTT
Angle of rotation as a tangential rotation vector to the change of
orientation
ORIROTC
Angle of rotation as a tangential rotation vector to the path tangent
THETA
Rotation of the orientation vector
THETA=value
Angle of rotation in degrees reached by the end of the block
THETA=Θe
Angle of rotation with end angle Θ
e
of rotation vector
THETA=AC(...)
Non-modal switchover to absolute dimensions
THETA=AC(…)
Non-modal switchover to incremental dimensions
Θe
End angle of rotational vector both absolute with G90 and relative with
G91 (incremental dimensioning) is active
PO[THT]=(....)
Polynomial for angle of rotation
Example of rotations of orientations
Program code Comments
N10 TRAORI ; Activate orientation transformation
N20 G1 X0 Y0 Z0 F5000 ; Tool orientation
N30 A3=0 B3=0 C3=1 THETA=0 ; In Z direction with angle of rotation 0
N40 A3=1 B3=0 C3=0 THETA=90 ; In X direction and rotation about 90 degrees
N50 A3=0 B3=1 C3=0 PO[THT]=(180,90) ; Orientation
N60 A3=0 B3=1 C3=0 THETA=IC(-90) ; In Y direction and rotation about 180
degrees
N70 ORIROTT ; Remains constant and rotation to 90 degrees
N80 A3=1 B3=0 C3=0 THETA=30 ; Angle of rotation relative to change of
orientation
; Rotation vector in angle 30 degrees to X/Y
plane
When interpolating block
N40, the angle of rotation from initial value of 0 degrees to final
value of 90 degrees is interpolated linearly. In block
N50, the angle of rotation changes from
90 degrees to 180 degrees, according to parabola
θ(u) = +90u
2
. In N60, a rotation can also
be executed without a change in orientation taking place.
With
N80, the tool orientation is rotated from the Y direction toward the X direction. The
change in orientation takes place in the X/Y plane and the rotation vector describes an angle
of 30 degrees to this plane.
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