Siemens SINUMERIK 828D Programming Manual page 346

Transformations
6.4 Rotations of the tool orientation (ORIROTA, ORIROTR, ORIROTT, ORIROTC, THETA)
Description
ORIROTA
The angle of rotation
The basic direction of rotation is defined in the machine data.
ORIROTR
The angle of rotation
orientation.
ORIROTT
The angle of rotation
the rotation vector is interpolated tangentially to the change in orientation and only differs
from
orientation. The result is a change in orientation that is not executed in the plane. An
additional angle of rotation
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
degree can also be programmed for the offset angle.
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is interpolated with reference to an absolute direction in space.
THETA
is interpreted relative to the plane defined by the start and end
THETA
is interpreted relative to the change in orientation. For
THETA
if at least one polynomial has been programmed for "tilt angle PSI" for the
ORIROTR
THETA
THETA
can then be used to interpolate the rotation vector such that
angle. A polynomial
PO[THT]=(c2, c3, c4, c5)
Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
THETA=0
up to the 5th
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