2.9 Orientation..............................................................................................................................85
2.9.1 Basic orientation.....................................................................................................................85
2.9.2 Orientation movements with axis limits..................................................................................87
2.9.3 Orientation compression........................................................................................................88
2.9.4 Smoothing of orientation characteristic..................................................................................92
2.9.5 Orientation relative to the path...............................................................................................94
2.9.6 Programming of orientation polynominals..............................................................................98
2.9.7 System variable for tool orientation......................................................................................101
2.10 Orientation axes...................................................................................................................103
2.10.1 JOG mode............................................................................................................................105
2.10.2 Programming for orientation transformation.........................................................................106
2.10.3 Programmable offset for orientation axes............................................................................108
2.10.4 Orientation transformation and orientable tool holders........................................................109
2.10.5 Modulo display of orientation axes.......................................................................................109
2.11 Orientation vectors...............................................................................................................110
2.11.1 Polynomial interpolation of orientation vectors.....................................................................110
2.11.2 Rotations of orientation vector.............................................................................................114
2.11.3 Extended interpolation of orientation axes...........................................................................118
2.12 Online tool length offset.......................................................................................................122
2.13 Examples.............................................................................................................................126
2.13.1 Example of a 5-axis transformation......................................................................................126
2.13.2 Example of a 3-axis and 4-axis transformation....................................................................129
2.13.2.1 Example of a 3-axis transformation......................................................................................129
2.13.2.2 Example of a 4-axis transformation......................................................................................129
2.13.3 Example of a universal milling head.....................................................................................129
2.13.4 Example for orientation axes................................................................................................131
2.13.5 Examples for orientation vectors..........................................................................................133
2.13.5.1 Example for polynomial interpretation of orientation vectors...............................................133
2.13.5.2 Example of rotations of orientation vector............................................................................134
2.13.6 Examples for generic axis transformations..........................................................................134
2.13.6.1 Example of a generic 6-axis transformation.........................................................................136
2.13.6.2 Example of a generic 7-axis transformation.........................................................................137
2.13.6.3 Example for the modification of rotary axis motion..............................................................138
2.13.7 Example: Compression of an orientation.............................................................................138
2.14 Data lists..............................................................................................................................139
2.14.1 Machine data........................................................................................................................139
2.14.1.1 General machine data..........................................................................................................139
2.14.1.2 Channelspecific machine data.............................................................................................139
2.14.2 Setting data..........................................................................................................................143
2.14.2.1 General setting data.............................................................................................................143
2.14.2.2 Channelspecific setting data................................................................................................143
2.14.3 Signals.................................................................................................................................144
2.14.3.1 Signals from channel............................................................................................................144
3 G1: Gantry axes.......................................................................................................................................145
3.1 Brief description...................................................................................................................145
3.2 "Gantry axes" function..........................................................................................................146
3.2.1 Definition of a gantry grouping.............................................................................................146
3.2.2 Monitoring the synchronism difference................................................................................147
Table of contents
Special functions
10 Function Manual, 01/2015, 6FC5397-2BP40-5BA2
