3.8.2.2 Reading and changing frame components (TR, FI, RT, SC, MI) .........................................635
3.8.2.3 Calculating with frames ........................................................................................................636
3.8.2.4 Definition of frame variables (DEF FRAME) ........................................................................638
3.8.3 Coarse and fine offsets (CTRANS, CFINE) .........................................................................639
3.8.4 External zero offset ($AA_ETRANS)....................................................................................640
3.8.5 Set actual value with loss of the referencing status (PRESETON) ......................................641
3.8.6 Set actual value without loss of the referencing status (PRESETONS)...............................643
3.8.7 Frame calculation from three measuring points in space (MEAFRAME).............................644
3.8.8 Global frames.......................................................................................................................647
3.8.8.1 Channel-specific frames ($P_CHBFR, $P_UBFR)...............................................................648
3.8.8.2 Frames active in the channel ...............................................................................................649
3.9 Transformations ...................................................................................................................654
3.9.1 General programming of transformation types.....................................................................654
3.9.1.1 Orientation movements for transformations .........................................................................656
3.9.1.2 Overview of orientation transformation TRAORI..................................................................660
3.9.2 Three, four and five axis transformation (TRAORI)..............................................................662
3.9.2.1 General relationships of universal tool head ........................................................................662
3.9.2.2 Three, four and five axis transformation (TRAORI)..............................................................664
3.9.2.3 Variants of orientation programming and initial setting (ORIRESET) ..................................666
3.9.2.4 Programming the tool orientation (A..., B..., C..., LEAD, TILT) ............................................667
3.9.2.5 Face milling (A4, B4, C4, A5, B5, C5)..................................................................................673
3.9.2.6 Reference of the orientation axes (ORIWKS, ORIMKS): .....................................................674
3.9.2.7 Programming orientation axes (ORIAXES, ORIVECT, ORIEULER, ORIRPY, ORIRPY2,
ORIVIRT1, ORIVIRT2).........................................................................................................676
3.9.2.8 Orientation programming along the peripheral surface of a taper (ORIPLANE,
ORICONCW, ORICONCCW, ORICONTO, ORICONIO) .....................................................678
3.9.2.9 Specification of orientation for two contact points (ORICURVE, PO[XH]=, PO[YH]=,
PO[ZH]=)..............................................................................................................................681
3.9.3 Orientation polynomials (PO[angle], PO[coordinate]) ..........................................................683
3.9.4 Rotations of the tool orientation (ORIROTA, ORIROTR, ORIROTT, ORIROTC, THETA)....685
3.9.5 Orientations relative to the path ...........................................................................................687
3.9.5.1 Orientation types relative to the path ...................................................................................687
3.9.5.2 Rotation of the tool orientation relative to the path (ORIPATH, ORIPATHS, angle of
rotation) ................................................................................................................................688
3.9.5.3 Interpolation of the tool rotation relative to the path (ORIROTC, THETA) ...........................690
3.9.5.4 Smoothing of orientation characteristic (ORIPATHS A8=, B8=, C8=)..................................692
3.9.6 Compression of the orientation (COMPON, COMPCURV, COMPCAD, COMPSURF).......693
3.9.7 Compression of the orientation (COMPCAD, COMPSURF)................................................696
3.9.8 Activating/deactivating the orientation characteristic (ORISON, ORISOF) ..........................698
3.9.9 Kinematic transformation .....................................................................................................699
3.9.9.1 Activate face end transformation (TRANSMIT)....................................................................699
3.9.9.2 Activate cylinder surface transformation (TRACYL).............................................................700
3.9.9.3 Activating an oblique angle transformation with programmable angle (TRAANG) ..............703
3.9.9.4 Oblique plunge-cutting on grinding machines (G5, G7) .......................................................704
3.9.10 Activate concatenated transformation (TRACON) ...............................................................705
3.9.11 Cartesian PTP travel ............................................................................................................707
3.9.11.1 Activating/deactivating Cartesian PTP travel (PTP, PTPG0, PTPWOC, CP) ......................707
3.9.11.2 Specify the position of the joints (STAT) ..............................................................................708
3.9.11.3 Specify the sign of the axis angle (TU) ................................................................................712
3.9.11.4 Example 1: PTP travel of a 6-axis robot with ROBX transformation ....................................715
3.9.11.5 Example 2: PTP travel for generic 5-axis transformation.....................................................716
3.9.11.6 Example 3: PTPG0 and TRANSMIT ....................................................................................717
Table of contents
NC programming
14 Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
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