K2: Axis Types, Coordinate Systems, Frames
10.5 Frames
Basic Functions
776 Function Manual, 09/2011, 6FC5397-0BP40-2BA0
10.5.7 Predefined frame functions
10.5.7.1 Inverse frame
To round off the frame arithmetic, the part program provides a function which calculates the inverse frame from
another frame. The chaining between a frame and its inverse frame always produces a zero frame.
FRAME INVFRAME( FRAME )
Frame inversion is an aid for coordinate transformations. Measuring frames are usually calculated in the WCS. If
you should wish to transform this calculated frame into another coordinate system, i.e., the calculated frame
should be entered into any desired frame within the frame chain, the calculations below should be used.
The new complete frame is a chain of the old complete frame and the calculated frame.
The new frame in the frame chain is therefore:
Target frame is nth channel basic frame $P_CHBFRAME[n]:
Target frame is $P_IFRAME:
N120 / N220 Channel synchronization for consistent activation of new frame data
N130 / N230 Activating the new frame data
N140 / N240 Checking the zero point of the Z axis for == 10 mm
$P_ACTFRAME = $P_ACTFRAME : $AC_MEAS_FRAME
Target frame is $P_SETFRAME:
$P_SETFRAME = $P_ACTFRAME : $AC_MEAS_FRAME : INVFRAME($P_ACTFRAME) :
$P_SETFRAME
n = 0: TMP = $P_PARTFRAME : $P_SETFRAME : $P_EXTFRAME : $P_NCBFRAME[0..k]
n <> 0: TMP = $P_PARTFRAME : $P_SETFRAME : $P_EXTFRAME :
$P_NCBFRAME[0..k] : $P_CHBFRAME[0..n-1]
k = $MN_MM_NUM_GLOBAL_BASE_FRAMES
$P_CHBFRAME[n] = INVFRAME(TMP) : $P_ACTFRAME : $AC_MEAS_FRAME :
INVFRAME($P_ACTFRAME) : TMP : $P_CHBFRAME[n]
TMP = $P_PARTFRAME : $P_SETFRAME : $P_EXTFRAME : $P_BFRAME
$P_IFRAME = INVFRAME(TMP) : $P_ACTFRAME : $AC_MEAS_FRAME :
INVFRAME($P_ACTFRAME) : TMP : $P_IFRAME
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