4.5.2
Example of rotations of orientation vector
Rotations with angle of rotation THETA
In the following example, the angle of rotation is interpolated in linear fashion from starting
value 0 degrees to end value 90 degrees. The angle of rotation changes according to a
parabola or a rotation can be executed without a change in orientation. tool orientation is
rotated from the Y direction to the X direction.
N10 TRAORI
N20 G1 X0 Y0 Z0 F5000
N30 A3=0 B3=0 C3=1 THETA=0
N40 A3=1 B3=0 C3=0 THETA=90
N50 A3=0 B3=1 C3=0 PO[THT]=(180,90)
N60 A3=0 B3=1 C3=0 THETA=IC(-90)
N70 ORIROTT
N80 A3=1 B3=0 C3=0 THETA=30
N40 Linear interpolation of angle of rotation from starting value 0 degrees to end value 90
degrees.
N50 The angle of rotation changes from 90 degrees to 180 degrees in accordance with the
parabola.
θ(u) = 90 + u
N60 A rotation can also be programmed without a change in orientation taking place.
N80 Tool orientation is rotated from the Y direction to the X direction. The change in
orientation takes place in the X-Y plane and the rotation vector describes an angle of 30
degrees to this plane.
Special functions: 3-Axis to 5-Axis Transformation (F2)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0
2
4.5 Examples for orientation vectors
; Activation of orientation transformation
;
; Tool orientation
; In Z direction with angle of rotation 0
; In X direction and rotation
; of 90 degrees
; in Y direction and rotation
; to 180 degrees
; Remains constant and rotation
; to 90 degrees.
; Angle of rotation relative to
; change of orientation.
; Rotation vector in angle of
; 30 degrees to X-Y plane.
Examples
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