Siemens SINUMERIK 828D Programming Manual page 351

Significance
Interpolation of the rotation of tool relative to the path in 6-axis transformation
ORIROTC
THETA=value
THETA=θe
THETA=AC(...)
THETA=IC(...)
PO[THT]=(c2, c3, c4, c5)
Note
Interpolation of the rotation vector ORIROTC
Initiating rotation of the tool relative to the path tangent in the opposite direction to the tool
orientation, is only possible with a 6-axis transformation.
With active ORIROTC
Rotation vector ORIROTA cannot be programmed. If programming is undertaken, ALARM
14128 "Absolute programming of tool rotation with active ORIROTC" is output.
Orientation direction of the tool for 3-axis to 5-axis transformation
The orientation direction of the tool can be programmed via Euler angles, RPY angles or
direction vectors as with 3-axis to 5-axis transformations. Orientation changes of the tool in
space can also be achieved by programming the large-radius circular interpolation
ORIVECT, linear interpolation of the orientation axes ORIAXES, all interpolations on the
peripheral surface of a taper ORICONxx, and interpolation in addition to the curve in space
with two contact points of the tool ORICURVE.
G....
X Y Z
ORIAXES
ORIVECT
ORIMKS
ORIWKS
A= B= C=
ORIEULER
ORIRPY
A2= B2= C2=
ORIVIRT1
ORIVIRT2
Job planning
Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
Initiate tangential rotation vector relative to path tangent
Angle of rotation in degrees reached by the end of the block
Angle of rotation with end angle Θ
Switch over to absolute dimensions per block
Switch over to incremental dimensions per block
Interpolate offset angle with polynomial of 5th degree
Details of the rotary axis motion
Details of the linear axes
Linear interpolation of machine or orientation axes
Large-radius circular interpolation (identical to ORIPLANE)
Rotation in the machine coordinate system
Rotation in the workpiece coordinate system
Description, see the Rotations of the tool orientation section
Programming the machine axis position
Orientation programming via Euler angle
Orientation programming via RPY angle
Angle programming of virtual axes
Orientation programming using virtual orientation axes
(definition 1), definition according to MD
$MC_ORIAX_TURN_TAB_1
(definition 2), definition according to MD
$MC_ORIAX_TURN_TAB_2
Transformations
6.5 Orientations relative to the path
of rotation vector
e
351