Interpolation Of The Tool Rotation Relative To The Path (Orirotc, Theta) - Siemens Sinumerik 840D sl Programming Manual

Transformations
6.5 Orientations relative to the path
Significance
Tool orientation relative to the path
ORIPATH
ORIPATHS
LEAD
TILT
THETA
PO[PHI]
PO[PSI]
PO[THT]
Note
Angle of rotation THETA
A 6-axis transformation is required to rotate a tool with a third rotary axis that acts as an
orientation axis about itself.
6.5.3

Interpolation of the tool rotation relative to the path (ORIROTC, THETA)

Function
Interpolation with rotation vectors
The rotation vector of the tool rotation, programmed with ORIROTC, relative to the path
tangent can also be interpolated with an offset that can be programmed using the THETA
angle of rotation. A polynomial can, therefore, be programmed up to the 5th degree for the
offset angle using PO[THT].
Syntax
N... ORIROTC
N... A3= B3= C3= THETA=value
N... A3= B3= C3= PO[THT]=(c2, c3, c4, c5) Interpolate offset angle with
A rotation can also be programmed in a separate block without an orientation change taking
place.
362
Tool orientation in relation to path
Tool orientation relative to the path; blip in orientation characteristic is smoothed
Angle relative to the surface normal vector in the plane that is defined by the
path tangent and the surface normal vector
Rotation of orientation in the Z direction or rotation about the path tangent
Rotation about the tool direction toward Z
Orientation polynomial for the LEAD angle
Orientation polynomial for the TILT angle
Orientation polynomial for the THETA angle of rotation
Initiate the rotation of the tool
relative to the path tangent
Define the rotation of the
orientation vector
polynomial up to 5th degree
Programming Manual, 02/2011, 6FC5398-2BP40-1BA0
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