Detailed Description
2.4 Frames
Axis Types, Coordinate Systems, Frames (K2)
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
2-61
Rotations cannot be used on global frames. The programming of a rotation is denied with
alarm: "18310 Channel %1 Block %2 Frame: rotation not allowed" is displayed.
It is not possible to program chaining of global frames and channel-specific frames, and any
attempt at this is rejected with the alarm 18314 "Frame: Type conflict". All global frames and
channel-specific frames are internally chained to the complete frame. This takes place in the
channel and only with all channel axes known in the channel. The assignment of a frame
with rotation components to a global frame is denied with alarm "Frame: Rotation not
allowed".
Example:
$P_NCBFR[0] = CTRANS( x, 10 ):CROT( y, 45
)
; Faulty assignment on the global basic
frame
The frames
$P_UBFR, $P_BFRAME, $P_CHBFR[n],
$P_CHBFRAME[n], $P_NCBFRAME[n],
and
$P_ACTBFRAME und $P_ACTFRAME
are channel-specific.
These frames can contain rotation components.
These frames only affect the channel that has been set.
With SW 5.1, attempts to program a channel axis, which is also a link axis, is rejected with
alarm "14092 Channel %1 block %2 axis %3 is wrong axis type". An axis can be
programmed only if it physically exists on the NCU.
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