Rotations Of The Tool Orientation (Orirota, Orirotr, Orirott, Orirotc, Theta) - Siemens SINUMERIK 840D sl Programming Manual

Type 2 orientation polynomials with ORICURVE
If interpolation with the additional curve in space ORICURVE is active, the Cartesian
components of the orientation vector are interpolated and only type 2 orientation polynomials
are possible.
3.9.4 Rotations of the tool orientation (ORIROTA, ORIROTR, ORIROTT, ORIROTC,
THETA)
If you also want to be able to change the orientation of the tools on machine types with movable
tools, program each block with end orientation. Depending on the machine kinematics you can
either program the orientation direction of the orientation axes or the direction of rotation of
orientation vector THETA. Different interpolation types can be programmed for these rotation
vectors:
● ORIROTA: Angle of rotation to an absolute direction of rotation.
● ORIROTR: Angle of rotation relative to the plane between the start and end orientation.
● ORIROTT: Angle of rotation relative to the change in the orientation vector.
● ORIROTC: Tangential angle of rotation to the path tangent.
Syntax
Only if interpolation type ORIROTA is active can the angle of rotation or rotation vector be
programmed in all four modes as follows:
1. Directly as rotary axis positions A, B, C
2. Euler angles (in degrees) with A2, B2, C2
3. RPY angles (in degrees) with A2, B2, C2
4. Direction vector via A3, B3, C3 (angle of rotation using THETA=<value>)
If ORIOTR or ORIOTT is active, the angle of rotation can only be programmed directly with
THETA.
A rotation can also be programmed in a separate block without an orientation change taking
place. In this case, ORIROTR and ORIROTT are irrelevant. In this case, the angle of rotation
is always interpreted with reference to the absolute direction (ORIROTA).
N... ORIROTA
N... ORIROTR
N... ORIROTT
N... ORIROTC
N... A3= B3= C3= THETA=<value> Define the rotation of the orientation vector
N... PO[THT]=(d
NC programming
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
Define the interpolation of the rotation vector
Interpolate angle of rotation with a 5th order poly‐
, d , d , d )
2 3 4 5
nomial
Work preparation
3.9 Transformations
685