Rotations Of The Tool Orientation (Orirota, Orirotr, Orirott, Orirotc, Theta) - Siemens SINUMERIK 840D sl Programming Manual

6.4 Rotations of the tool orientation (ORIROTA, ORIROTR, ORIROTT, ORIROTC, THETA)

Description
Orientation polynomials cannot be programmed:
● If ASPLINE, BSPLINE, CSPLINE spline interpolations are active.
● If the orientation is interpolated using ORIAXES axis interpolation. In this case,
Type 1 orientation polynomials with ORIVECT, ORIPLANE and ORICONxx
Only type 1 orientation polynomials are possible for large-radius circular interpolation and
interpolation outside of the taper with ORIVECT, ORIPLANE and ORICONxx.
Type 2 orientation polynomials with ORICURVE
If interpolation with the additional curve in space ORICURVE is active, the Cartesian
components of the orientation vector are interpolated and only type 2 orientation polynomials
are possible.
6.4 Rotations of the tool orientation (ORIROTA, ORIROTR, ORIROTT,
ORIROTC, THETA)
Function
If you also want to be able to change the orientation of the tools on machine types with
movable tools, program each block with end orientation. Depending on the machine
kinematics you can either program the orientation direction of the orientation axes or the
direction of rotation of orientation vector THETA. Different interpolation types can be
programmed for these rotation vectors:
● ORIROTA: Angle of rotation to an absolute direction of rotation.
● ORIROTR: Angle of rotation relative to the plane between the start and end orientation.
● ORIROTT: Angle of rotation relative to the change in the orientation vector.
● ORIROTC: Tangential angle of rotation to the path tangent.
Job Planning
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
Type 1 polynomials for orientation angles are possible for every type of interpolation
except spline interpolation, that is, linear interpolation with rapid traverse G00 or with
feedrate G01
with polynomial interpolation using POLY and
circular/involute interpolation G02, G03, CIP, CT, INVCW and INCCCW
.
However, type 2 polynomials for orientation coordinates are only possible if
linear interpolation with rapid traverse G00 or with feedrate G01 or
polynomial interpolation with POLY is active.
polynomials can be programmed directly with PO[A] and PO[B] for orientation axes A and
B.
Transformations
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