3.9.2.7 Programming orientation axes (ORIAXES, ORIVECT, ORIEULER, ORIRPY, ORIRPY2,
ORIVIRT1, ORIVIRT2)
The "Orientation axes" function describes the orientation of the tool in space and is achieved
by programming the offset for the rotary axes. An additional, third degree of freedom can be
achieved by also rotating the tool about itself. In this case, the tool is oriented in space via a third
rotary axis for which 6-axis transformation is required. The rotation of the tool about itself is
defined using the THETA angle of rotation in accordance with the type of interpolation of the
rotation vectors (see "Rotations of the tool orientation (ORIROTA, ORIROTR, ORIROTT,
ORIROTC, THETA) (Page 685)").
Axis identifiers A2, B2 and C2 are used to program the orientation axes.
Syntax
N... ORIAXES/ORIVECT ; Linear or large-circle interpolation
N... G1 X Y Z A B C
N... ORIPLANE ; Orientation interpolation of the plane
N... ORIEULER/ORIRPY/ORIRPY2 : Orientation angle Euler/RPY angle
N... G1 X Y Z A2= B2= C2= ; Angle programming of virtual axes
N... ORIVIRT1/ORIVIRT2 ; Virtual orientation axes def. 1/2
N... G1 X Y Z A3= B3= C3= ; Direction vector programming
Note
Other rotary axis offsets of the orientation axes can be programmed for orientation changes
along the peripheral surface of a taper in space, see "Orientation programming along the
peripheral surface of a taper (ORIPLANE, ORICONCW, ORICONCCW, ORICONTO,
ORICONIO) (Page 678)".
Meaning
ORIAXES: Linear interpolation of machine or orientation axes
ORIVECT: Large-circle interpolation (identical to ORIPLANE)
ORIMKS:
ORIWKS:
Rotation in the machine coordinate system
Rotation in the workpiece coordinate system
For a description, see "Reference of the orientation axes (ORIWKS,
ORIMKS): (Page 674)".
A= B= C=: Programming the machine axis position
ORIEULER: Orientation programming via Euler angle
Work preparation
3.9 Transformations
NC programming
676 Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
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