# Kuka ORI1 ORI2 Swivel vs Orientation

• Hi,

kan someone please explain the difference between the ORI1 and ORI2 concept?
ORI1 is referred to as the swivel velocity. Is the swivel the joint 5 and 6 ?
ORI2 is referred to as the rotation, of the TOOL? In all directions? Or?

In german it is:
\$VEL.ORI1 = Schwenkgeschwindigkeit
\$VEL.ORI2 = Drehgeschwindigkeit

I have multiple Kuka pdf's but I can't find an explanation.
http://www.roboterforum.de/rob…-relativbewegung/msg11145
but still don't get it.

I have: Startup Manual / Configuration Manual / Operating and Programming instr / KRL Reference guide / Expert prog manual / System variablees / and some others.

Maybe someone give an example of each motion?
I assume it has something to do with the orientation velocities of the TOOL-frame.
I assume:
\$IPO_MODE = #BASE
\$BASE = {FRAME: X 0, Y 0, Z 0, A 0, B 0, C 0}
\$TOOL = {FRAME: X 0, Y 0, Z 0, A 0, B 0, C 0}

• can't you just try it (make a test program) and watch it...

ok here is my attempt to explain it based on my understanding:

think of a spherical coordinate system, any position can be reached/represented using radius and two angles.
http://en.wikipedia.org/wiki/File:3D_Spherical_2.svg

radius is distance from origin (but here we don't really care about it)
rotation about Z is the first angle (controlled by \$vel.ori1)
tilt away from Z is the other angle (controlled by \$vel.ori2)

did a job not long ago and customer configured tool such that Z-axis was normal to flange (X and Y were aligned with base) so rotation about Z was basically rotation of A6. to limit the velocity for rotation about Z axis I used \$VEL.ORI1... other rotations about TCP would then be ORI2...

2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly