3.13.5.2
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.
Program code
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.
3.13.6
Examples for generic axis transformations
3.13.6.1
Example of generic 5-axis transformation
The following example is based on a machine with rotatable tool on which the first rotary axis
is a C axis and the second a B axis (CB kinematics). The basic orientation defined in the
machine data is the bisecting line between the X and Z axes.
Transformations
Function Manual, 06/2019, A5E47435470B AA
2
F2: Multi-axis transformations
Comment
; Activation of orientation transformation
;
; Tool orientation
; In Z direction with angle of rotation 0
; In X direction and rotation
; By 90 degrees
; In Y direction and rotation
; To 180 degrees
; Remains constant and rotation
; To 90 degrees
; Angle of rotation relative to
; change in orientation.
; Rotation vector in angle
; 30 degrees to X-Y plane.
3.13 Examples
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