PO[PSI]: Orientation polynomial for the TILT angle
PO[THT]: Orientation polynomial for the THETA angle of rotation
Note
Angle of rotation THETA
A 6-axis transformation is required to rotate a tool with a third rotary axis that acts as an
orientation axis about itself.
3.9.5.3 Interpolation of the tool rotation relative to the path (ORIROTC, THETA)
Interpolation with rotation vectors
The rotation vector of the tool rotation, programmed with ORIROTC, relative to the path tangent
can also be interpolated with an offset that can be programmed using the THETA angle of
rotation. A polynomial can, therefore, be programmed up to the 5th degree for the offset angle
using PO[THT].
Syntax
N... ORIROTC Initiate the rotation of the tool rel‐
ative to the path tangent
N... A3= B3= C3= THETA=value Define the rotation of the orienta‐
tion vector
N... A3= B3= C3= PO[THT]=(c2, c3, c4, c5) Interpolate offset angle with poly‐
nomial up to 5th degree
A rotation can also be programmed in a separate block without an orientation change taking
place.
Meaning
Interpolation of the rotation of tool relative to the path in 6-axis transformation
ORIROTC: Initiate tangential rotation vector relative to path tangent
THETA=value: Angle of rotation in degrees reached by the end of the block
THETA=θe: Angle of rotation with end angle Θ
e
of rotation vector
THETA=AC(…): Non-modal switchover to absolute dimensions
THETA=IC(…): Non-modal switchover to incremental dimensions
PO[THT]=(c2, c3, c4, c5): Interpolate offset angle with polynomial of 5th degree
Work preparation
3.9 Transformations
NC programming
690 Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
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