K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
Basic Functions
744 Function Manual, 09/2011, 6FC5397-0BP40-2BA0
10.5.5.4 NCU global basic frames $P_NCBFR[n]
The number of global basic frames can be configured via the machine data:
MD18602 $MN_MM_NUM_GLOBAL_BASE_FRAMES (number of global, basic frames (SRAM))
There are a maximum of 16 global basic frames. All basic frames are stored as fields.
System variable $P_NCBFR[n] can be used to read and write the basic frame field elements. While writing a
basic frame field element, the chained total frame is not activated. Instead, the activation takes place only after a
G500,G54..G599instruction is executed. If the modified frame is to be active in every channel of the NCU, every
channel must execute a G500,G54..G599instruction. The variable is used primarily for storing write operations to
the basic frame on HMI or PLC. These frame variables are saved by the data backup.
Current NCU global basic frames $P_NCBFRAME[n]
System variable $P_NCBFRAME[n] can be used to read and write the current global basic frame field elements.
The resulting total basic frame is calculated by means of the write process in the channel. The modified frame is
activated only in the channel in which the frame was programmed. If the frame is to be modified for all channels
of an NCU, $P_NCBFR[n] and $P_NCBFRAME[n] must be written simultaneously. The other channels must then
activate the frame, e.g., with G54. Whenever a basic frame is written, the complete basic frame is calculated
again.
Programming global frames
Global frames are programmed analogously, as are channel-specific frames, i.e., global basic frames are
programmed with $P_NCBFR[n] and global settable frames with $P_UIFR[n].
Geometry axis, channel axis and machine axis identifiers can be used as axis identifiers for frame program
commands. If there is no machine axis for the channel axis on the NCU, programming with channel axis
identifiers is rejected with the alarm 18314 "Frame: Type conflict". Channel-specific frames can be programmed
with geometry axis, channel axis and machine axis identifiers. If there is no corresponding channel axis for the
machine axis on the NCU, programming with machine axis identifiers is rejected with the alarm 18314 "Frame:
Type conflict". If frame components are applied to a machine axis or a channel axis, which is also a geometry
axis, the corresponding geometry axis components will also be simultaneously modified.
Example:
Rotations cannot be used on global frames. The programming of a rotation is denied with alarm: "18310 Channel
%1 Block %2 Frame: rotation not allowed" is displayed.
It is not possible to program chaining of global frames and channel-specific frames, and any attempt at this is
rejected with the alarm 18314 "Frame: Type conflict". All global frames and channel-specific frames are internally
chained to the complete frame. This takes place in the channel and only with all channel axes known in the
channel. The assignment of a frame wit
h rotation components to a global frame is denied with alarm "Frame:
Rotation not allowed".
$P_NCBFR[0] = CTRANS( ax1, 10 )
$P_NCBFR[0] = CTRANS(x, 10)
$P_NCBFR[0, ax1, FI ] = 0.1
$P_NCBFR[0, x, FI] = 0.1
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