Transformations
7.3 Orientation polynomials (PO[angle], PO[coordinate])
Job planning
7-34 Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
Parameters
PO[PHI] Angle in the plane between start and end orientation
PO[PSI] Angle describing the tilt of the orientation from the
plane between start and end orientation
PO[THT] Angle of rotation created by rotating the rotation
vector of one of the G codes of group 54 that is
programmed using THETA
PHI Lead angle LEAD
PSI Tilt angle TILT
THETA Rotation about the tool direction in Z
PO[XH] X coordinate of the reference point on the tool
PO[YH] Y coordinate of the reference point on the tool
PO[ZH] Z coordinate of the reference point on the tool
Description
Orientation polynomials cannot be programmed:
• If ASPLINE, BSPLINE, CSPLINE spline interpolations are active.
Type 1 polynomials for orientation angles are possible for every type of interpolation
except spline interpolation, that is, linear interpolation with rapid traverse G00 or with
feedrate G01
with polynomial interpolation using POLY and
circular/involute interpolation G02, G03, CIP, CT, INVCW and INCCCW.
However, type 2 polynomials for orientation coordinates are only possible if
linear interpolation with rapid traverse G00 or with feedrate G01 or
polynomial interpolation with POLY is active.
• If the orientation is interpolated using ORIAXES axis interpolation. In this case,
polynomials can be programmed directly with PO[A] and PO[B] for orientation
axes A and B.
Type 1 orientation polynomials with ORIVECT, ORIPLANE and ORICONxx
Only type 1 orientation polynomials are possible for large-radius circular interpolation and
interpolation outside of the taper with ORIVECT, ORIPLANE and ORICONxx.
Type 2 orientation polynomials with ORICURVE
If interpolation with the additional curve in space ORICURVE is active, the Cartesian
components of the orientation vector are interpolated and only type 2 orientation polynomials
are possible.
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