Siemens SINUMERIK 840Di - 2.4.3.8 Coordinate transformation

Detailed Description
2.4 Frames
Axis Types, Coordinate Systems, Frames (K2)
2-48 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
Programming examples:
$P_PFRAME[SPI(1),TR]=22.22
$P_PFRAME=CTRANS (X, axis value, Y, axis value, SPI(1), axis value)
$P_PFRAME=CSCALE (X, scale, Y, scale, SPI(2), scale)
$P_PFRAME=CMIRROR (S1, Y, Z)
$P_UBFR=CTRANS(A, 10) : CFINE(SPI(1), 0.1)
2.4.3.8 Coordinate transformation
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The formulae below are used to discover the coordinate transformation for geometry axes:
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V: Position vector in BCS
V': Position vector in WCS