Detailed Description
2.4 Frames
Axis Types, Coordinate Systems, Frames (K2)
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
2-45
The program commands below are used to program the rotation:
$P_UIFR[1] = CROT(x, 10, y, 10)
ROT x = 10 y = 10
$P_UIFR[1,x, rt] = 10
CRPL - Constant Rotation Plane
The predefined function Constant Rotation Plane:
FRAME CRPL( INT, REAL)
allows a rotation to be programmed in any plane for each frame.
This method offers the advantage that no axis identifier, around which a rotation should be
executed, has to be specified for a geometry coordinate axis.
As a rule, turning machines have only two geo axes, meaning that, up to now, a rotation in
the plane could not be programmed.
Parameter:
INT
0: Rotation in the active plane
1: Rotation about z
2: Rotation about y
3: Rotation about x
REAL
Angle of rotation in degrees
RPY: -180 <= x <= 180
-90 <= y <= 90
-180 <= z <= 180
Euler: -180 <= x <= 180
0 <= y <= 180
-180 <= z <= 180
The user must keep to the named angles, in the interests of a unique backward
calculation. If the limits are violated, a unique backward calculation is impossible.
Entry is not aborted with an alarm.
CRPL() can be chained with frames and known frame functions, such as CTRANS(),
CROT(), CMIRROR(), CSCALE(), CFINE().
Example:
$P_CYCFRAME = $P_CYCFRAME : CRPL(0, 30)
$P_CYCFRAME = CTRANS(x,10) : CRPL(1, 30)
$P_CYCFRAME = CROT(x,10) : CRPL(2, 30)
$P_CYCFRAME = CRPL(3, 30) : CMIRROR(y)
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