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

7.5.3

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].
Programming
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.
Parameters
Interpolation of the rotation of tool relative to the path in 6-axis transformation
ORIROTC
THETA=value
THETA=θ
THETA=AC(...)
THETA=IC(...)
PO[THT]=(c
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.
Job planning
Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
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
e
Non-modal switchover to absolute dimensions
Non-modal switchover to incremental dimensions
, c , c , c ) Interpolate offset angle with polynomial of 5th degree
2 3 4 5
Transformations
7.5 Orientations relative to the path
Initiate the rotation of the tool
relative to the path tangent
Define the rotation of the
orientation vector
Interpolate offset angle with
polynomial up to 5th degree
of rotation vector
e
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