Siemens SINUMERIK 840D sl Programming Manual page 392

Transformations
6.4 Rotations of the tool orientation (ORIROTA, ORIROTR, ORIROTT, ORIROTC, THETA)
When interpolating block N40, the angle of rotation from initial value of 0 degrees to final
value of 90 degrees is interpolated linearly. In block N50, the angle of rotation changes from
90 degrees to 180 degrees, according to
parabola θ(u) = +90u
orientation taking place.
With N80, the tool orientation is rotated from the Y direction toward 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.
Description
ORIROTA
The angle of rotation THETA is interpolated with reference to an absolute direction in space.
The basic direction of rotation is defined in the machine data.
ORIROTR
The angle of rotation THETA is interpreted relative to the plane defined by the start and end
orientation.
ORIROTT
The angle of rotation THETA is interpreted relative to the change in orientation. For THETA=0
the rotation vector is interpolated tangentially to the change in orientation and only differs
from ORIROTR if at least one polynomial has been programmed for "tilt angle PSI" for the
orientation. The result is a change in orientation that is not executed in the plane. An
additional angle of rotation THETA can then be used to interpolate the rotation vector such
that it always produces a specific value referred to the change in orientation.
ORIROTC
The rotation vector is interpolated relative to the path tangent with an offset that can be
programmed using the THETA angle. A polynomial PO[THT]=(c2, c3, c4, c5) up to
the 5th degree can also be programmed for the offset angle.
392
. In N60, a rotation can also be executed without a change in
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Programming Manual, 06/2009, 6FC5398-2BP20-0BA0
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