K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
Basic Functions
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
789
Characteristics and expansions:
Settings 1 and 2 are reached by rotating the coordinate system around the Z axis, starting from any position on
the X and Y axis, until the desired setting is reached. Setting 3 is achieved by executing a rotation whose value is
the exact mean of these two angles. However, this only applies for the case that the old and new Z direction
enclose an angle of less than 90 degrees. With variant 1, both the old and new X axes form an angle of under 90
degrees, with variant 2 the same is true of the Y axis (the relevant axes point in "approximately" the same
direction). If the two Z directions form an angle of more than 90 degrees, however, the conditions of an angle <
90 degrees between the old and new axes can no longer be met simultaneously for both X and Y. In this case,
priority is given to the X direction, i.e. a mean value is taken from the direction for 1 and the negative direction for
2.
If one of the G codes TOFRAMEX,TOFRAMEY,TOROTX,TOROTY is programmed in place of TOFRAME(Z) or
TOROT(Z), the descriptions for adapting the axis directions perpendicular to the main direction are also valid for
the cyclically exchanged axes. The assignments in the table below are then valid:
Example
N100 describes a rotation by 45 degrees in the XY plane. It is assumed that the toolholder activated in N110
rotates the tool by 30 degrees around the X axis, i.e. the tool lies in the YZ plane and is rotated by 30 degrees
relative to the Z axis. As a result the Z axis of the frame newly defined in N120 also points in this direction
(independently of the value in setting data SD42980 $SC_TOFRAME_MODE in N90).
In the figure below, the situation for setting data setting:
SD42980 $SC_TOFRAME_MODE=1
is shown:
TOFRAME, TOFRAMEZ
TOROT, TOROTZ
TOFRAMEY
TOROTY
TOFRAMEX
TOROTX
Tool direction
(vertical axis)
ZYX
Secondary axis
(horizontal axis)
XZY
Secondary axis
(ordinate)
YXZ
...
...
N90 $SC_TOFRAME_MODE=1
N100 ROT Z45
N110 TCARR=1 TCOABS T1 D1
N120 TOROT
...
...
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