Transformations
6.4 Rotations of the tool orientation (ORIROTA, ORIROTR, ORIROTT, ORIROTC, THETA)
Job planning
346 Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
Description
ORIROTA
The angle of rotation
THETA is interpolated with reference to an absolute direction in space.
The basic direction of rotation is defined in the machine data.
ORIROTR
The angle of rotation
THETA is interpreted relative to the plane defined by the start and end
orientation.
ORIROTT
The angle of rotation
THETA is interpreted relative to the change in orientation. For THETA=0
the rotation vector is interpolated tangentially to the change in orientation and only differs
from
ORIROTR if at least one polynomial has been programmed for "tilt angle PSI" for the
orientation. The result is a change in orientation that is not executed in the plane. An
additional angle of rotation
THETA can then be used to interpolate the rotation vector such that
it always produces a specific value referred to the change in orientation.
ORIROTC
The rotation vector is interpolated relative to the path tangent with an offset that can be
programmed using the
THETA angle. A polynomial PO[THT]=(c2, c3, c4, c5) up to the 5th
degree can also be programmed for the offset angle.
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