M1: Kinematic transformation
6.7 Cartesian manual travel (optional)
Extended Functions
408 Function Manual, 03/2013, 6FC5397-1BP40-3BA1
Translation and orientation in the TCS simultaneously
If translation and orientation movements are executed at the same time, the translation is
always traversed corresponding to the current orientation of the tool. This permits infeed
movements that are made directly in the tool direction or movements that run perpendicular
to tool direction.
Orientation
The tool can be aligned to the component surface via an orientation movement. The
orientation movement is given control from the PLC via the VDI signals of the orientation
axes (DB21, ... DBB321).
Several orientation axes can be traversed simultaneously. The virtual orientation axes
execute rotations around the fixed axes of the relevant reference system.
The rotations are identified according to the RPY angles.
● A angle: Rotation around the Z axis
● B angle: Rotation around the Y axis
● C angle: Rotation around the X axis
Programming rotations:
The user can define how rotations are to be executed using the current G codes of group 50
for orientation definition
Specifying
ORIEULER, ORIRPY, ORIVIRT1 and ORIVIRT2.
With ORIVIRT1, rotation is executed according to MD21120 $MC_ORIAX_TURN_TAB_1.
The orientation axes are assigned to the channel axes via machine data: MD24585
$MC_TRAFO5_ORIAX_ASSIGN_TAB_1.
The direction of rotation is determined according to the "right hand rule". The thumb points in
the direction of the rotary axis. The finger stipulates the positive direction of rotation.
Orientation in WCS
The rotations are made around the defined directions of the workpiece coordinate system. If
frame rotation is active, the movements correspond to the rotations in the basic coordinate
system.
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