K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
Basic Functions
758 Function Manual, 09/2011, 6FC5397-0BP40-2BA0
Part program:
$MC_TRAFO_GEOAX_ASSIGN_TAB_2[0]=1
$MC_TRAFO_GEOAX_ASSIGN_TAB_2[1]=6
$MC_TRAFO_GEOAX_ASSIGN_TAB_2[2]=2
$MC_TRANSMIT_BASE_TOOL_2[0]=4.0
$MC_TRANSMIT_BASE_TOOL_2[1]=0.0
$MC_TRANSMIT_BASE_TOOL_2[2]=0.0
$MC_TRANSMIT_ROT_AX_OFFSET_2=19.0
$MC_TRANSMIT_ROT_SIGN_IS_PLUS_2=TRUE
$MC_TRANSMIT_ROT_AX_FRAME_2=1
; Frame settings
N820 $P_UIFR[1] = ctrans(x,1,y,2,z,3,c,4)
N830 $P_UIFR[1] = $P_UIFR[1] : crot(x,10,y,20,z,30)
N840 $P_UIFR[1] = $P_UIFR[1] : cmirror(x,c)
N850
N860 $P_CHBFR[0] = ctrans(x,10,y,20,z,30,c,15)
N870
; Tool selection, clamping compensation, plane selection
N890 T2 D1 G54 G17 G90 F5000 G64 SOFT
N900
; Approach start position
N920 G0 X20 Z10
N930
N940 if $P_BFRAME <> CTRANS(X,10,Y,20,Z,30,C,15)
N950 setal(61000)
N960 endif
N970 if $P_BFRAME <> $P_CHBFR[0]
N980 setal(61000)
N990 endif
N1000 if $P_IFRAME <>
CTRANS(X,1,Y,2,Z,3,C,4):CROT(X,10,Y,20,Z,30):CMIRROR(X,C)
N1010 setal(61000)
N1020 endif
N1030 if $P_IFRAME <> $P_UIFR[1]
N1040 setal(61000)
N1050 endif
N1060 if $P_ACTFRAME <>
CTRANS(X,11,Y,22,Z,33,C,19):CROT(X,10,Y,20,Z,30):CMIRROR(X,C)
N1070 setal(61000)
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