Detailed Description
2.4 Frames
Axis Types, Coordinate Systems, Frames (K2)
2-106 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
The system frame for TCARR and PAROT is configured with bit 2 in machine data
MD28082 $MC_MM_SYSTEM_FRAME_MASK.
Machine data
MD20184 $MC_TOCARR_BASE_FRAME_NUMBER
is then no longer evaluated.
If the system frame for TCARR is configured, TCARR and PAROT describe that system frame;
otherwise the basic frame identified by machine data
MD20184 $MC_TOCARR_BASE_FRAME_NUMBER
is described.
With kinematics systems of the types P and M, TCARR will enter the table offset of the
orientational toolholder (zero offset resulting from the rotation of the table) as a translation
into the system frame. PAROT converts the system frame such, that a partoriented WCS
results.
The system frames are stored in the SRAM and, therefore, remain stored after Reset. The
system frames also remain active in the case of a mode change.
For the display, the G codes PAROT and TOROTOF, TOFRAME are each assigned to a
separate G code group.
PAROTOF
PAROTOF is the switch off command for PAROT. This command deletes the rotations in the
system frame for PAROT. In so doing, the rotations in the current $P_PARTFRAME and in
the data management frame $P_PARTFR are deleted. The position of the coordinate system
is then recreated according to TCARR. PAROTOF is in the same G code group as PAROT and
appears, therefore, in the G code display.
TOROT and TOFRAME
The system frame for TOROT and TOFRAME is configured with bit 3 in machine data
MD28082 $MC_MM_SYSTEM_FRAME_MASK.
This system frame is located before the programmable frame in the frame chain.
The SZS coordinate system is located before the programmable frame.
TOROTOF
TOROTOF is the switch off command for TOROT and TOFRAME. This command deletes the
system frame for TOROT and TOFRAME. The current $P_TOOLFRAME and the data
management frame $P_TOOLFR are also deleted. TOROTOF is in the same G code group as
TOROT and TOFRAME and appears, therefore, in the G code display.
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