Transformations
6.5 Orientations relative to the path
Job planning
350 Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
Significance
Tool orientation relative to the path
ORIPATH
Tool orientation in relation to path
ORIPATHS
Tool orientation relative to the path; blip in orientation characteristic is
smoothed
LEAD
Angle relative to the surface normal vector in the plane that is defined by the
path tangent and the surface normal vector
TILT
Rotation of orientation in the Z direction or rotation about the path tangent
THETA
Rotation about the tool direction toward Z
PO[PHI]
Orientation polynomial for the LEAD angle
PO[PSI]
Orientation polynomial for the TILT angle
PO[THT]
Orientation polynomial for the THETA angle of rotation
Note
Angle of rotation THETA
A 6-axis transformation is required to rotate a tool with a third rotary axis that acts as an
orientation axis about itself.
6.5.3 Interpolation of the tool rotation relative to the path (ORIROTC, THETA)
Function
Interpolation with rotation vectors
The rotation vector of the tool rotation, programmed with ORIROTC, relative to the path
tangent can also be interpolated with an offset that can be programmed using the THETA
angle of rotation. A polynomial can, therefore, be programmed up to the 5th degree for the
offset angle using PO[THT].
Syntax
N... ORIROTC
Initiate the rotation of the tool relative to
the path tangent
N... A3= B3= C3= THETA=value
Define the rotation of the orientation
vector
N... A3= B3= C3= PO[THT]=(c2, c3, c4, c5)
Interpolate offset angle with polynomial
up to 5th degree
A rotation can also be programmed in a separate block without an orientation change taking
place.
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