Transformations
6.6 Compression of the orientation (COMPON, COMPCURV, COMPCAD)
Job planning
354 Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
6.6 Compression of the orientation (COMPON, COMPCURV,
COMPCAD)
Function
NC programs, in which orientation transformation (TRAORI) is active, and the orientation is
programmed using direction vectors, can be compressed if kept within specified limits.
Note
The orientation movement is only compressed if large-radius circular interpolation is active
and depends, therefore, on the G code for orientation interpolation. This can be set via
machine data, as can the maximum path length and a permissible tolerance for each axis or
for the path feedrate for the compressor function. Please refer to the machine manufacturer's
instructions.
Programming
Tool orientation
If orientation transformation (
TRAORI) is active, for 5-axis machines, tool orientation can be
programmed in the following way (independent of the kinematics):
● Programming of the direction vectors via:
A3=<...> B3=<...> C3=<...>
● Programming of the Eulerangles or RPY-angles via:
A2=<...> B2=<...> C2=<...>
Rotation of the tool
For six-axis machines you can program the tool rotation in addition to the tool orientation.
The angle of rotation is programmed with:
THETA=<...>
See "
Rotation of tool orientation (Page 344)".
Note
NC blocks in which additional rotation is programmed, can only be compressed if the angle
of rotation changes linearly, meaning that a polynomial with
PO[THT]=(...) for the angle of
rotation should not be programmed.
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