K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
Basic Functions
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
751
• $P_ACSFRAME
The currently resulting frame that is defined by the ENS-(ACS) coordinate system, can be read and written
through the $P_ACSFRAME variable.
• $P_ACTFRAME
The resulting current complete frame $P_ACTFRAME is now a chain of all system frames, basic frames, the
current settable frame and the programmable frame. The current frame is always updated whenever a frame
component is changed.
The current complete frame is calculated according to the formula below:
For MD24030 $MC_FRAME_ACS_SET = 0, the frame is calculated as follows:
$P_ACSFRAME = $P_PARTFRAME : $P_SETFRAME : $P_EXTFRAME :
$P_ISO1FRAME : $P_ISO2FRAME : $P_ISO3FRAME :
$P_ACTBFRAME : $P_IFRAME :
$P_TOOLFRAME : $P_WPFRAME
For MD24030 $MC_FRAME_ACS_SET = 1, the frame is calculated as follows:
$P_ACSFRAME = $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_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
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