ORIROTR
The angle of rotation THETA is interpreted relative to the plane defined by the start and end
orientation.
ORIROTT
The angle of rotation THETA is interpreted relative to the change in orientation. For THETA=0
the rotation vector is interpolated tangentially to the change in orientation and only differs from
ORIROTR if at least one polynomial has been programmed for "tilt angle PSI" for the orientation.
The result is a change in orientation that is not executed in the plane. An additional angle of
rotation THETA can then be used to interpolate the rotation vector such that it always produces
a specific value referred to the change in orientation.
ORIROTC
The rotation vector is interpolated relative to the path tangent with an offset that can be
programmed using the THETA angle. A polynomial PO[THT]=(c2, c3, c4, c5) up to the
5th degree can also be programmed for the offset angle.
3.9.5 Orientations relative to the path
3.9.5.1 Orientation types relative to the path
By using this expanded function, relative orientation is not only achieved at the end of the block,
but across the entire trajectory. The orientation achieved in the previous block is transferred to
the programmed end orientation using large-circle interpolation. There are basically two ways
of programming the desired orientation relative to the path:
1. Like the tool rotation, the tool orientation is interpolated relative to the path using ORIPATH,
ORPATHTS.
2. The orientation vector is programmed and interpolated in the usual manner. The rotation of
the orientation vector is initiated relative to the path tangent using ORIROTC.
Syntax
The type of interpolation of the orientation and the rotation of the tool is programmed using:
N... ORIPATH Orientation relative to the path
N... ORIPATHS Orientation relative to the path with smoothing of orientation
characteristic
N... ORIROTC Interpolation of the rotation vector relative to the path
An orientation blip caused by a corner on the path trajectory can be smoothed using
ORIPATHS. The direction and path length of the lift motion is programmed via the vector with
components A8 = X, B8 = Y and C8 = Z.
Work preparation
3.9 Transformations
NC programming
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0 687
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