Detailed description
2.4 Frames
Basic logic functions: Axes, coordinate systems, frames (K2)
58 Function Manual, 11/2006, 6FC5397-0BP10-2BA0
CRPL - Constant Rotation Plane
The predefined function "Constant Rotation Plane", allows a rotation to be programmed in
any plane for each frame:
FRAME CRPL(INT,REAL)
This method offers the advantage that no axis identifier, around which a rotation should be
executed, has to be specified for a geometry coordinate axis.
As a rule, turning machines have only two geo axes, meaning that, up to now, a rotation in
the plane could not be programmed.
Parameter:
INT 0: Rotation in the active plane
1: Rotation around z
2: Rotation around y
3: Rotation around x
REAL Angle of rotation in degrees
RPY: -180 <= x <= 180
-90 <= y <= 90
-180 <= z <= 180
Euler: -180 <= x <= 180
0 <= y <= 180
-180 <= z <= 180
The user must keep to the named angles, in the interests of a unique backward
calculation. If the limits are violated, a unique backward calculation is impossible. Entry is
not aborted with an alarm.
Chaining with frames
CRPL() can be chained with frames and known frame functions such as CTRANS(),
CROT(), CMIRROR(), CSCALE(), CFINE().
Examples:
$P_CYCFRAME = $P_CYCFRAME : CRPL(0,30)
$P_CYCFRAME = CTRANS(x,10) : CRPL(1.30)
$P_CYCFRAME = CROT(x,10) : CRPL(2.30)
$P_CYCFRAME = CRPL(3,30) : CMIRROR(y)
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