When ORIWKS is active (see "Reference of the orientation axes (ORIWKS, ORIMKS):
(Page 674)"), the surface normal vectors refer to the active frame and are also rotated with
frame rotation.
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.
3.9.2.6 Reference of the orientation axes (ORIWKS, ORIMKS):
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 commands ORIWKS und ORIMKS.
= TRUE: The reference are the G commands of the 51th group (ORIAXES, ORIVECT,
ORIPLANE, ...)
Syntax
ORIMKS=...
ORIWKS=...
Meaning
ORIMKS: Rotation in the machine coordinate system
ORIWKS: Rotation in the workpiece coordinate system
Note
ORIWKS is the basic setting. In the case of a 5-axis program, if it is not immediately obvious on
which machine it is to run, ORIWKS must always be selected. Which movements the machine
actually executes depend on the machine kinematics.
ORIMKS can be used to program actual machine movements (to avoid collisions with devices
or similar, for example).
Work preparation
3.9 Transformations
NC programming
674 Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
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