K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
Basic Functions
728 Function Manual, 09/2011, 6FC5397-0BP40-2BA0
CRPL - Constant Rotation Plane
The predefined function "Constant Rotation Plane", allows a rotation to be programmed in any plane for each
frame.
Syntax
CRPL(<rotary axis>,<angle of rotation>)
Meaning
Chaining with frames
CRPL() can be chained with frames and known frame functions such as CTRANS(), CROT(), CMIRROR(),
CSCALE(), CFINE() etc.
Examples:
$P_PFRAME = $P_PFRAME : CRPL(0,30.0)
$P_PFRAME = CTRANS(x,10) : CRPL(1,30.0)
$P_PFRAME = CROT(x,10) : CRPL(2,30.0)
$P_PFRAME = CRPL(3,30.0) : CMIRROR(y)
CRPL: Rotation in any plane
<rotary
axis>:
Axis around which the rotation is performed
Type: INT
Value Meaning
0 Rotation in the active plane
1 Rotation around Z
2 Rotation around Y
3 Rotation around X
<angle of
rotation>:
Angle in degrees through which the rotation is performed
Type: REAL
It is strongly recommended to observe the specified angular ranges. If
the limits are not observed, then an unambiguous reverse calculation is
not possible. Angles outside the limits are not rejected.
RPY: X -180 <= <angle of rotation> <= 180
Y-90 <= <angle of rotation> <= 90
Z -180 <= <angle of rotation> <= 180
Euler: X -180 <= <angle of rotation> <= 180
Y 0 <= <angle of rotation> <= 180
Z -180 <= <angle of rotation> <= 180
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