Transformations
6.4 Rotations of the tool orientation (ORIROTA, ORIROTR, ORIROTT, ORIROTC, THETA)
Job planning
344 Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
6.4 Rotations of the tool orientation (ORIROTA, ORIROTR, ORIROTT,
ORIROTC, THETA)
Function
If you also want to be able to change the orientation of the tools on machine types with
movable tools, program each block with end orientation. Depending on the machine
kinematics you can either program the orientation direction of the orientation axes or the
direction of rotation of orientation vector THETA. Different interpolation types can be
programmed for these rotation vectors:
● 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 relative to the change in the orientation vector.
● ORIROTC: Tangential angle of rotation to the path tangent.
Syntax
Only if interpolation type ORIROTA is active can the angle of rotation or rotation vector be
programmed in all four modes as follows:
1. Directly as rotary axis positions
A, B, C
2. Euler angles (in degrees) with
A2, B2, C2
3. RPY angles (in degrees) with
A2, B2, C2
4. Direction vector via
A3, B3, C3 (angle of rotation using THETA=value)
If
ORIROTR or ORIROTT is active, the angle of rotation can only be programmed directly with
THETA.
A rotation can also be programmed in a separate block without an orientation change taking
place. In this case,
ORIROTR and ORIROTT are irrelevant. In this case, the angle of rotation is
always interpreted with reference to the absolute direction (
ORIROTA).
N... ORIROTA
N... ORIROTR
N... ORIROTT
N... ORIROTC
Define the interpolation of the rotation vector
N... A3= B3= C3= THETA=value
Define the rotation of the orientation vector
N... PO[THT]=(d
2
, d
3
, d
4
, d
5
) Interpolate angle of rotation with a 5th order
polynomial
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