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

Work preparation
3.9 Transformations
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.
3.9.5.3

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

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)
A rotation can also be programmed in a separate block without an orientation change taking
place.
Meaning
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): Interpolate offset angle with polynomial of 5th degree
690
Orientation polynomial for the TILT angle
Orientation polynomial for the THETA angle of rotation
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
Non-modal switchover to absolute dimensions
Non-modal switchover to incremental dimensions
Initiate the rotation of the tool rel‐
ative to the path tangent
Define the rotation of the orienta‐
tion vector
Interpolate offset angle with poly‐
nomial up to 5th degree
of rotation vector
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Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
NC programming