Table of contents
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Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
ix
5.2 Spline interpolation (ASPLINE, BSPLINE, CSPLINE, BAUTO, BNAT, BTAN) ......................... 5-3
5.3 Spline grouping (SPLINEPATH) .............................................................................................. 5-11
5.4 Compressor (COMPOF/ON, COMPCURV, COMPCAD) ........................................................ 5-12
5.5 Polynomial interpolation (POLY, POLYPATH) ........................................................................ 5-16
5.6 Settable path reference (SPATH, UPATH).............................................................................. 5-22
5.7 Measurements with touch trigger probe (MEAS, MEAW) ....................................................... 5-24
5.8 Extended measuring function (MEASA, MEAWA, MEAC) (option)......................................... 5-27
5.9 Special functions for OEM users (OEMIPO1, OEMIPO2, G810 to G829) .............................. 5-36
5.10 Feed reduction with corner deceleration (FENDNORM, G62, G621)...................................... 5-36
5.11 Programmed end-of-motion criterion
(FINEA, COARSEA, IPOENDA, IPOBRKA, ADISPOSA) ....................................................... 5-38
5.12 Programmable servo parameter set (SCPARA) ...................................................................... 5-41
6 Frames ................................................................................................................................................... 6-1
6.1 Coordinate transformation via frame variables .......................................................................... 6-1
6.1.1 Predefined frame variable ($P_BFRAME, $P_IFRAME, $P_PFRAME, $P_ACTFRAME)........ 6-3
6.2 Frame variables / assigning values to frames ........................................................................... 6-9
6.2.1 Assigning direct values (axis value, angle, scale) ..................................................................... 6-9
6.2.2 Reading and changing frame components (TR, FI, RT, SC, MI)............................................. 6-12
6.2.3 Linking complete frames .......................................................................................................... 6-13
6.2.4 Defining new frames (DEF FRAME)........................................................................................ 6-15
6.2.5 Specifying frame rotations (ROT, ROTS, TOFRAME, TOROT, PAROT) ............................... 6-15
6.3 Coarse and fine offsets (CFINE; CTRANS)............................................................................. 6-16
6.4 DRF offset................................................................................................................................ 6-18
6.5 External zero offset .................................................................................................................. 6-19
6.6 Preset offset (PRESETON)...................................................................................................... 6-20
6.7 Deactivating frames (DRFOF, G53, G153, and SUPA)........................................................... 6-21
6.8 Frame calculation from three measuring points in space (MEAFRAME) ................................ 6-22
6.9 NCU global frames................................................................................................................... 6-26
6.9.1 Channel-specific frames ($P_CHBFR, $P_UBFR) .................................................................. 6-27
6.9.2 Frames active in the channel ................................................................................................... 6-28
7 Transformations...................................................................................................................................... 7-1
7.1 General programming of transformation types ................
.......................................................... 7-1
7.1.1 Orientation movements for transformations............................................................................... 7-4
7.1.2 Overview of orientation transformation TRAORI ....................................................................... 7-7
7.2 Three, four and five axis transformation (TRAORI) ................................................................... 7-9
7.2.1 General relationships of universal tool head.............................................................................. 7-9
7.2.2 Three, four and five axis transformation (TRAORI) ................................................................. 7-12
7.2.3 Variants of orientation programming and initial setting (OTIRESET) ...................................... 7-13
7.2.4 Programming of the tool orientation (A..., B..., C..., LEAD, TILT)............................................ 7-15
7.2.5 Face milling (3D-milling A4, B4, C4, A5, B5, C5) .................................................................... 7-22
7.2.6 Orientation axis reference (ORIWKS, ORIMKS) ..................................................................... 7-23
7.2.7 Programming the orientation axes (ORIAXES, ORIVECT, ORIEULER, ORIRPY)................. 7-25
7.2.8 Orientation programming along the peripheral surface of a taper (ORIPLANE, ORICONxx) . 7-27
7.2.9 Specification of orientation for two contact points
(ORICURVE, PO[XH]=, PO[YH]=, PO[ZH]=)........................................................................... 7-31
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