Transformations
6.1 General programming of transformation types
Job planning
Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
315
6.1.2 Overview of orientation transformation TRAORI
Programming types available in conjunction with TRAORI
Machine type Programming with active transformation TRAORI
Machine types 1, 2, or 3 two-
axis swivel head or two-axis
rotary table or a combination
of single-axis swivel head and
single-axis rotary table.
The axis sequence of the orientation axes and the orientation
direction of the tool can either be configured on a
machine-specific basis using machine data
depending on the machine kinematics or on a
workpiece-specific basis with programmable orientation
independently of the machine kinematics.
The directions of rotation of the orientation axes in the reference
system are programmed with:
- ORIMKS reference system = machine coordinate system
- ORIWKS reference system = workpiece coordinate system
The default setting is ORIWKS.
Programming of orientation axes with:
A, B, C of the machine axis position direct
A2, B2, C2 angle programming virtual axes with
- ORIEULER via Euler angle (standard)
- ORIRPY via RPY angle
- ORIVIRT1 via virtual orientation axes 1st definition
- ORIVIRT2 via virtual orientation axes 2nd definition
with differentiation between the interpolation type:
linear interpolation
- ORIAXES of orientation axes or machine axes
large radius circle interpolation (interpolation of the orientation vector)
- ORIVECT from orientation axes
Programming orientation axes by specifying
A3, B3, C3 of the vector components (direction/surface normal)
Programming the resulting tool orientation
A4, B4, C4 of the vector surface normal at the beginning of the block
A5, B5, C5 of the vector perpendicular to the surface at the end of
the block
LEAD leading angle for tool orientation
TILT tilt angle for the tool orientation
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