Detailed Description 
  2.3 Coordinate systems 
Axis Types, Coordinate Systems, Frames (K2) 
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0 
2-37 
2.3.8  Workpiece coordinate system (WCS) 
WCS 
The workpiece coordinate system (WCS) is the programming basis. 
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6HWWDEOH]HURV\VWHP6=6
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Fig. 2-24  Programmable FRAME between SZS and WCS