# Orientation interpolation mode (P-CHAN-00417)

P-CHAN-00417 | Orientation interpolation mode in conjunction with complete kinematic transformations
Description | With a complete transformation the tool target orientation is defined by concatenated rotations in space. If more than one rotary axis is programmed, it may cause the tool to wobble. This is prevented by using a special angular interpolation (orientation interpolation).

This parameter influences the mode of functioning of orientation interpolation.

Parameter | ori_interpolation_mode
Data type | SGN16
Data range | 0: Orientation interpolation of tool axis (default). This is executed in a place which results from the tool direction at the start and target points of the programmed angular motion. While rotating in the plane, the tool rotates about the tool axis. This mode is used to program relative movements of the Cartesian orientation axes at rotation angles phi < |180°|. Larger relative angles generally lead to "shortest way" treatment of the orientation movement.

1: Orientation interpolation with a spatial axis calculated by the CNC. This spatial axis executes a rotation from start orientation to target orientation in the manual system. This mode is used to program rotation angles phi > |180°| when the orientation is programmed relatively ( 0° < phi < |360°|).

-1: Orientation interpolation inactive, linear interpolation of the programmed spatial angle.

Dimension | ----
Default value | 0
Remarks | Geometric smoothing functions such as polynomial smoothing, spline etc. deactivate the effect of orientation interpolation.