Transformations
6.5 Orientations relative to the path
Job planning
Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
351
Significance
Interpolation of the rotation of tool relative to the path in 6-axis transformation
ORIROTC
Initiate tangential rotation vector relative to path tangent
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(…)
Switch over to absolute dimensions per block
THETA=IC(…)
Switch over to incremental dimensions per block
PO[THT]=(c2, c3, c4, c5)
Interpolate offset angle with polynomial of 5th degree
Note
Interpolation of the rotation vector ORIROTC
Initiating rotation of the tool relative to the path tangent in the opposite direction to the tool
orientation, is only possible with a 6-axis transformation.
With active ORIROTC
Rotation vector ORIROTA cannot be programmed. If programming is undertaken, ALARM
14128 "Absolute programming of tool rotation with active ORIROTC" is output.
Orientation direction of the tool for 3-axis to 5-axis transformation
The orientation direction of the tool can be programmed via Euler angles, RPY angles or
direction vectors as with 3-axis to 5-axis transformations. Orientation changes of the tool in
space can also be achieved by programming the large-radius circular interpolation
ORIVECT, linear interpolation of the orientation axes ORIAXES, all interpolations on the
peripheral surface of a taper ORICONxx, and interpolation in addition to the curve in space
with two contact points of the tool ORICURVE.
G....
Details of the rotary axis motion
X Y Z
Details of the linear axes
ORIAXES
Linear interpolation of machine or orientation axes
ORIVECT
Large-radius circular interpolation (identical to ORIPLANE)
ORIMKS
ORIWKS
Rotation in the machine coordinate system
Rotation in the workpiece coordinate system
Description, see the Rotations of the tool orientation section
A= B= C=
Programming the machine axis position
ORIEULER
Orientation programming via Euler angle
ORIRPY
Orientation programming via RPY angle
A2= B2= C2=
Angle programming of virtual axes
ORIVIRT1
ORIVIRT2
Orientation programming using virtual orientation axes
(definition 1), definition according to MD
$MC_ORIAX_TURN_TAB_1
(definition 2), definition according to MD
$MC_ORIAX_TURN_TAB_2
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