K2: Axis Types, Coordinate Systems, Frames
10.1 Brief description
Basic Functions
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
689
Frame chaining
Frame components or complete frames can be combined using the concatenation operator ":" to create a
complete frame. For instance, the actual frame $P_ACTFRAME comprises chaining the complete basic frame,
adjustable frame, the systems frames and the programmable frame:
Frames with G91
Incremental programming with G91 is defined such that the compensation value is traversed additively to the
incrementally programmed value when a zero offset is selected.
The behavior depends on the setting in the setting data:
SD42440 $SC_FRAME_OFFSET_INCR_PROG (zero offset in frames)
Suppression of frames
The actual frames can be suppressed with the following operations:
NCU global basic frames
Using NCU global basic frames, frames for other channels can be pre-assigned from a channel.
Properties of the NCU global basic frames:
• Can be read and written from all channels.
• Can be activated only in the channels
• Offsets, scaling and mirroring for channel and machine axes
All global and channel-specific basic frames are chained and therefore a complete basic frame is obtained. As
standard, there is at least one basic frame available per channel.
$P_ACTFRAME = $P_PARTFRAME : $P_SETFRAME : $P_EXTFRAME :
$P_ISO1FRAME : $P_ISO2FRAME : $P_ISO3FRAME :
$P_ACTBFRAME : $P_IFRAME : $P_TOOLFRAME :
$P_WPFRAME : $P_TRAFRAME: $P_PFRAME
$P_ISO4FRAME : $P_CYCFRAME
Value Meaning
1 Zero offset is applied on FRAME and incremental programming of an axis (= default setting).
0 Only the programmed path is traversed.
Comman
d
Meaning
G53
Suppression of the actual work offset (non-modal)
G153
Suppression of the actual frame including basic frame
SUPA
Suppression of actual work offset, including programmed offsets, system frames,
handwheel offsets (DRF), external work offset, and overlaid movement
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