Programming and configuration of 5-axis kinematics (#ORI MODE)

Evaluation of point-vector programming after selecting the transformation is enabled by the NC command #ORI MODE[..]. In conventional point-vector representation, the VECTOR_2DOF (2 Degrees Of Freedom) mode is used. It remains valid until program end (M30) or until another programmed change occurs.

Syntax of Point-vector representation

#ORI MODE [ VECTOR_2DOF ]

VECTOR_2DOF

A, B and C are components of the direction vector. The address letters A, B, C must always be used; they have no reference to configured axis names in the channel list. The vector components need not be specified in standardised form.

#ORI MODE [VECTOR_2DOF] causes the preselection of orientation programming. Only when the transformation is active (#TRAFO ON) are point-vector representations detected and evaluated.

Syntax of Switching over to conventional orientation programming

#ORI MODE [ ANGLE ]

ANGLE

Angle values via configured axis names (default)

Special features relating to active coordinate systems (CS):

With 5-axis RTCP transformations (incomplete) and an active CS, orientation is always represented independent of P-CHAN-00247.
With complete 5-axis transformations and an active CS, orientation is represented dependent on P-CHAN-00247.
Vector programming is also permitted with tube machining. Virtual axis programming may not be active (see [FCT-M5, Kin-ID 90 – HD14 = 0]).

Alternatively, point-vector programming can be preconfigured with P-CHAN-00177. With ori.mode the user defines whether the values programmed with A,B,C in the NC channel are read as normal coordinates or angle values with an active kinematic transformation or whether they are interpreted as corresponding vector components.

Alternatively, the following identifiers must be configured:

ori.mode ANGLE Angle values by configured axis names (default)

ori.mode VECTOR_2DOF Vector components by A, B, C

If ori.mode is unassigned, the default setting is active for orientation programming (orientation specified by rotation angle).

Programming Example

Switching over orientation programming to point-vector representation

%example_1

#KIN ID [9]

#ORI MODE [VECTOR_2DOF]

#TRAFO ON

G01 F1000

X79.993 Y57.197 Z-39.993 A0.67520 B0.29702 C-0.67520

X79.973 Y57.392 Z-39.973 A0.66945 B0.32198 C-0.66945

X79.941 Y57.586 Z-39.941 A0.66316 B0.34705 C-0.66316

X79.255 Y58.978 Z-39.255 A0.58988 B0.55144 C-0.58988

X79.121 Y59.121 Z-39.121 A0.57735 B0.57735 C-0.57735

X78.903 Y59.319 Z-38.903 A0.55691 B0.61620 C-0.55691

X78.666 Y59.493 Z-38.666 A0.53439 B0.65487 C-0.53439

X78.414 Y59.643 Z-38.414 A0.50964 B0.69321 C-0.50964

X75.000 Z-35.000 A0.00000 B1.00000 C0.00000

#TRAFO OFF

M30

Programming Example

Toggling between point-vector and point-angle representation

%example_2

#KIN ID [9]

#ORI MODE [VECTOR_2DOF]

#TRAFO ON

G01 F1000

X79.993 Y57.197 Z-39.993 A0.67520 B0.29702 C-0.67520

X79.973 Y57.392 Z-39.973 A0.66945 B0.32198 C-0.66945

X79.941 Y57.586 Z-39.941 A0.66316 B0.34705 C-0.66316

...

X79.255 Y58.978 Z-39.255 A0.58988 B0.55144 C-0.58988

X79.121 Y59.121 Z-39.121 A0.57735 B0.57735 C-0.57735

X78.903 Y59.319 Z-38.903 A0.55691 B0.61620 C-0.55691

X78.666 Y59.493 Z-38.666 A0.53439 B0.65487 C-0.53439

X78.414 Y59.643 Z-38.414 A0.50964 B0.69321 C-0.50964

X75.000 Z-35.000 A0.00000 B1.00000 C0.00000

#TRAFO OFF

#ORI MODE [ANGLE]

#TRAFO ON

G01 F1000

X10 Y10 Z10 C90 A15

X20 Y10 Z10 C90 A30

#TRAFO OFF

M30