Siemens SINUMERIK 840D

Reference section
7.1
© Siemens AG All rights reserved. SINUMERIK, Manual, 5-axis machining
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FRAMES
Programmable frames
Frame operators
Special frames
TRANS X… Y… Z…
ATRANS X… Y… Z…
ROT X… Y… Z…
AROT X… Y… Z…
ROTS X… Y…
Absolute offset
Incremental offset, relative to the currently active frame
Absolute rotation
Incremental rotation, relative to the currently active frame
Absolute rotation, defined by two angles.
The angles are the angles of the lines of intersection between the
inclined plane and the main planes with respect to the axes.
AROTS X… Y…
RPL=…
MIRROR X… Y… Z…
AMIRROR X… Y… Z…
SCALE X… Y… Z…
ASCALE X… Y… Z…
Incremental rotation, relative to the currently active frame, angles
as for ROTS
Rotation in the plane
Absolute mirroring
Incremental mirroring, relative to the currently active frame
Absolute scaling
Incremental scaling, relative to the currently active frame
Frame operators can be used to define frame variables as a chain
of individual frame types:
CTRANS (X… Y… Z…)
CROT (X… Y… Z…)
CROTS (X… Y… Z…)
CMIRROR (X… Y… Z…)
CSCALE (X… Y… Z…)
Absolute offset
Absolute rotation
Absolute rotation
Absolute mirroring
Absolute scaling
FRAME = CTRANS(…) : CROT (X… Y… Z…) : CMIRROR (X… Y… Z…)
TOFRAME Tool frame, coordinate system with Z axis in tool direction,
zero point is the tool tip
TOFRAMEX Tool frame, coordinate system with X axis in tool direction,
zero point is the tool tip
TOFRAMEY Tool frame, coordinate system with Y axis in tool direction,
zero point is the tool tip
TOFRAMEZ Tool frame, coordinate system with Z axis in tool direction,
zero point is the tool tip, identical to TOFRAME
TOROT Tool frame, coordinate system with Z axis in tool direction, only
contains the rotation component from TOFRAME. The zero point
remains unchanged.