K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
Basic Functions
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
745
Example:
The following frames are channel-specific:
$P_UBFR, $P_BFRAME, $P_CHBFR[n],
$P_CHBFRAME[n], $P_NCBFRAME[n],
$P_ACTBFRAME and $P_ACTFRAME
These frames can contain rotation components.
These frames only affect the channel that has been set.
With SW 5.1, attempts to program a channel axis, which is also a link axis, is rejected with alarm "14092 Channel
%1 block %2 axis %3 is wrong axis type". An axis can be programmed only if it physically exists on the NCU.
10.5.5.5 Complete basic frame $P_ACTBFRAME
The chained complete basic frame is determined by the variable. The variable is readonly.
$P_ACTBFRAME
corresponds to
$P_NCBFRAME[0] : ... : $P_NCBFRAME[n] : $P_CHBFRAME[0] : ... : $P_CHBFRAME[n].
$P_NCBFR[0] = CTRANS( x, 10 ):CROT( y, 45 ) ; Faulty assignment on the global basic
frame
3B&+%)5$0(>@
3B&+%)5$0(>Q@
3B1&%)5$0(>Q@
3B1&%)5$0(>@
3B$&7%)5$0(
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