Meaning
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: Rotations of the orientations
Program code Comment
N10 TRAORI ; Activate orientation transformation
N20 G1 X0 Y0 Z0 F5000 ; Tool orientation
N30 A3=0 B3=0 C3=1 THETA=0 ; In Z direction with angle of rotation 0
N40 A3=1 B3=0 C3=0 THETA=90 ;In X direction and rotation about 90 degrees
N50 A3=0 B3=1 C3=0 PO[THT]=(180,90) ;Orientation
N60 A3=0 B3=1 C3=0 THETA=IC(-90) ;In Y direction and rotation about 180 degrees
N70 ORIROTT ;Remains constant and rotation to 90 degrees
N80 A3=1 B3=0 C3=0 THETA=30 ;Angle of rotation relative to change of ori-
entation
;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) = +90u2. 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.
Further information
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.
Work preparation
3.9 Transformations
NC programming
686 Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
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