Transformations
7.4 Rotations of the tool orientation (ORIROTA, ORIROTR/TT, ORIROTC, THETA)
Job planning
7-36 Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
Parameters
ORIROTA Angle of rotation to an absolute direction of rotation.
ORIROTR Angle of rotation relative to the plane between the start and
end orientation.
ORIROTT Angle of rotation as a tangential rotation vector to the
change of orientation
ORIROTC Angle of rotation as a tangential rotation vector to the path
tangent
THETA Rotation of the orientation vector
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(...) Non-modal switchover to absolute dimensions
THETA=AC(...) Non-modal switchover to incremental dimensions
Θe End angle of rotational vector both absolute with G90 and
relative with G91 (incremental dimensioning) is active
PO[THT]=(....) Polynomial for angle of rotation
Example of rotations of orientations
N10 TRAORI
N20 G1 X0 Y0 Z0 F5000
N30 A3=0 B3=0 C3=1 THETA=0
N40 A3=1 B3=0 C3=0 THETA=90
N50 A3=0 B3=1 C3=0 PO[THT]=(180,90)
N60 A3=0 B3=1 C3=0 THETA=IC(-90)
N70 ORIROTT
N80 A3=1 B3=0 C3=0 THETA=30
;Activate orientation transformation
;Tool orientation
;In Z direction with angle of rotation 0
;In X direction and rotation about 90 degrees
;Orientation
;In Y direction and rotation about
;180 degrees
;Remains constant and rotation to 90 degrees
;Angle of rotation relative to change of
;orientation
;Rotation vector in angle 30 degrees to
;X/Y plane
When interpolating block
N40, the angle of rotation from initial value of 0 degrees to final value of 90 degrees is
interpolated linearly. In block N50, the angle of rotation changes from 90 degrees to 180
degrees, according to parabola θ(u) = +90u
2
. In N60, a rotation can also be executed
without a change in orientation taking place.
With N80, the tool orientation is rotated from the Y direction toward the X direction. The
change in orientation takes place in the X/Y plane and the rotation vector describes an angle
of 30 degrees to this plane.
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.
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