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

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)
A rotation can also be programmed in a separate block without an orientation change taking
place.
Significance
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)
Job Planning
Programming Manual, 06/2009, 6FC5398-2BP20-0BA0
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
Switch over to absolute dimensions per block
Switch over to incremental dimensions per block
Interpolate offset angle with polynomial of 5th degree
Transformations
6.5 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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