Siemens SINUMERIK 810D Programming Manual

Transformations
7.5 Orientations relative to the path
Job planning
Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
7-41
7.5.3 Interpolation of the tool rotation relative to the path (ORIROTC, THETA)
Function
Interpolation with rotation vectors
The rotation vector of the tool rotation, programmed with ORIROTC, relative to the path
tangent can also be interpolated with an offset that can be programmed using the THETA
angle of rotation. A polynomial can, therefore, be programmed up to the 5th degree for the
offset angle using PO[THT].
Programming
N... ORIROTC
Initiate the rotation of the tool
relative to the path tangent
N... A3= B3= C3= THETA=value
Define the rotation of the
orientation vector
N... A3= B3= C3= PO[THT]=(c2, c3, c4, c5)
Interpolate offset angle with
polynomial up to 5th degree
A rotation can also be programmed in a separate block without an orientation change taking
place.
Parameters
Interpolation of the rotation of tool relative to the path in 6-axis transformation
ORIROTC Initiate tangential rotation vector relative to path
tangent
THETA=value Angle of rotation in degrees reached by the end of the
block
THETA=θ
e
Angle of rotation with end angle Θ
e
of rotation vector
THETA=AC(...) Non-modal switchover to absolute dimensions
THETA=IC(…) Non-modal switchover to incremental dimensions
PO[THT]=(c
2
, c
3
, c
4
, c
5
) Interpolate offset angle with polynomial of 5th degree
Note
Interpolation of the rotation vector ORIROTC
Initiating rotation of the tool relative to the path tangent in the opposite direction to the tool
orientation, is only possible with a 6-axis transformation.
With active ORIROTC
Rotation vector ORIROTA cannot be programmed. If programming is undertaken,
ALARM 14128 "Absolute programming of tool rotation with active ORIROTC" is output.

Siemens SINUMERIK 810D Specifications

General

Brand	Siemens
Model	SINUMERIK 810D
Category	Control Unit
Language	English