Transformations
6.2 Three, four and five axis transformation (TRAORI)
Job planning
Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
331
Programming the path curvature
Surface description
The path curvature is described by surface normal vectors with the following components:
A4, B4, C4 Start vector at block start
A5, B5, C5 End vector at block end
If a block only contains the start vector, the surface normal vector will remain constant
throughout the block. If a block only contains the end vector, interpolation will run from the
end value of the previous block via large-radius circular interpolation to the programmed end
value.
If both start and end vectors are programmed, interpolation runs between the two directions,
also via large-radius circular interpolation. This allows continuously smooth paths to be
created.
Regardless of the active G17 to G19 level, in the initial setting, surface normal vectors point
in the Z direction.
The length of a vector is meaningless.
Vector components that have not been programmed are set to zero.
With active ORIWKS (see "Reference of the orientation axes (ORIWKS, ORIMKS)") , the
surface normal vectors relate to the active frame and rotate when the frame rotates.
Machine manufacturer
The surface normal vector must be perpendicular to the path tangent, within a limit value set
via machine data, otherwise an alarm will be output.
6.2.6 Orientation axis reference (ORIWKS, ORIMKS)
Function
For orientation programming in the workpiece coordinate system using
● Euler or RPY angle or
● orientation vector
the course of the rotary motion can be set using
ORIMKS/ORIWKS.
Note
Machine manufacturer
The type of interpolation for the orientation is specified with machine data:
MD21104 $MC_ORI_IPO_WITH_G_CODE
= FALSE: The reference is provided by the G functions ORIWKS und ORIMKS.
= TRUE: The reference is provided by the G functions in the 51st group (ORIAXES,
ORIVECT, ORIPLANE, etc.).
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