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SINUMERIK 840D sl. Service - Functions. Manual (2018-2020) - page 22

Axes, coordinate systems, frames

4.3 Zero points and reference points

4.3.2

Position of coordinate systems and reference points

Switching on the control

For incremental measuring encoders, the reference point must be approached after each switch-

on of the controller to ensure the controller can transfer all of the position values to the

coordinate system.

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① Machine coordinate system (MCS)

② Workpiece coordinate system (WCS)

Figure 4-8

Position of the coordinate systems through machine zero point M and workpiece zero point

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Position of the reference point to the machine zero point

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Axes, coordinate systems, frames

4.4 Coordinate systems

4.4

Coordinate systems

4.4.1

Overview

Definitions

DIN 66217 stipulates that when programming machine tools, right-angled, rectangular

(Cartesian) coordinate systems must be used. The positive directions of the coordinate axes can

be determined using the "right-hand rule".

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Figure 4-10

Right_hand_rule

The coordinate system used when programming is referred to the workpiece. Programming is

realized independent of whether the tool or the workpiece is moved. When programming, it is

always assumed that the tool traverses relative to the coordinate system of the workpiece, which

is intended to be stationary.

Positive (clockwise) rotation of rotary axes can also be defined using the "right-hand rule". If the

thumb of the right hand points towards the positive direction of a coordinate axis (linear axis),

then the fingers point in the positive direction of rotation of the associated rotary axis.

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Axes, coordinate systems, frames

4.4 Coordinate systems

Figure 4-11

Clockwise, rectangular Cartesian coordinate system

Coordinate systems

The following coordinate systems are defined for machine tools:

Coordinate system

Abbreviation

Remark

Workpiece Coordinate System

WCS

Programming the traversing motion of the geome-

try axes for machining the workpiece is written in

the WCS.

Settable Zero System

SZS

Coordinate transformation using frames:

WCS ⇒ SZS

Basic Zero System

BZS

Coordinate transformation using frames:

SZS ⇒ BZS:

Basic Coordinate System

BCS

Coordinate transformation using frames:

BZS ⇒ BCS:

Machine Coordinate System

MCS

Coordinate transformation using frames and kine-

matic transformation:

BCS ⇒ MCS:

The programmed traversing motion of the geome-

try axes in WCS is mapped to the machine axes of

MCS using frames and kinematic transformations.

A kinematic transformation is used to derive the

BCS from the MCS. In this way, functions such as

manual traverse, for example, are effective not in

the MCS but in the BCS.

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Coordinate systems, frames, and kinematic transformations

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Axes, coordinate systems, frames

4.4 Coordinate systems

4.4.2

Machine coordinate system (MCS)

Machine coordinate system (MCS)

The machine coordinate system (MCS) is made up of all physically available machine axes.

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MCS with machine axes X, Y, Z, B, C (5-axis milling machine)

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MCS with machine axes X, Z (turning machine)

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4.4 Coordinate systems

Axial preset offset

The reference point of the control in the machine coordinate system (machine zero) can be reset

via the "Preset offset (PRESETON)" function.

CAUTION

Loss of the encoder adjustment

After a preset offset, the appropriate machine axis is in the "Not referenced" state! This means

that when using absolute encoders, the encoder adjustment is lost and must be performed

again (e.g. by calibration with a laser interferometer ). The use of PRESETON in combination

with absolute encoders is therefore not recommended.

Note

We recommend that the function is only used for machine axes that do not require a reference

point.

In order to restore the original machine coordinate system, the machine axis must be re-

referenced, e.g. with G74 (reference point approach).

The machine axes are not moved with the preset offset.

Further information

• "NC Programming" Programming Manual, supplemental commands

• "NC Programming" Programming Manual, coordinate transformations (FRAMES)

4.4.2.1

Actual value setting with loss of the referencing status (PRESETON)

Function

The PRESETON() procedure sets a new actual value for one or more axes in the machine

coordinate system (MCS). This corresponds to work offset of the axis MCS. The axis is not

traversed.

A preprocessing stop with synchronization is triggered by PRESETON. The actual position is not

assigned until the axis is at standstill.

If the axis is not assigned to the channel for PRESETON, the next steps depend on the

replacement behavior parameterized in the following machine data:

MD30552 $MA_AUTO_GET_TYPE

Referencing status

By setting a new actual value in the machine coordinate system, the referencing status of the

machine axis is reset.

DB31, ... DBX60.4/.5 = 0 (referenced/synchronized measuring system 1/2)

It is recommended that PRESETON only be used for axes that do not require a reference point.

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Axes, coordinate systems, frames

4.4 Coordinate systems

Geometry axes

• PRESETON can be used on a stationary geometry axis when a further geometry axis is not

being traversed in the channel at the same time.

• PRESETON can be used on a stationary geometry axis even when a further geometry axis is

being traversed in the channel at the same time, but this axis is in the "neutral axis" state or

traversing as a command axis.

Program code

Comment

N10 G0 X0 Y0

; X, Y: Geometry axes

N15 RELEASE(Y)

; Neutral axis

N20 PRESETON(Y,20)

; Actual position Y in the MCS =

20

N30 G0 X40

; Geometry axis X traverses

N40 M30

Example: A further geometry (X) is traversing at the same time in the "neutral axis" state

Program code

Comment

N10 G0 X0 Y0

; X, Y: Geometry axes

N20 POS[X]=40 FA[X]=1000

; X command axis

N30 DO PRESETON(Y,20)

; Actual position Y in the MCS =

20

N40 M30

Example: Geometry axis (X) traverses simultaneously as command axis

PLC-controlled axes

PRESETON can be used on PLC-controlled axes according to their current type.

Spindle states

The following table shows the reactions that occur when PRESETON is used on a spindle in a

synchronized action:

PRESETON in the NC program

Spindle mode

Traversing sta-

Assigned to the NC

Main axis

tus

program

Speed control mode

In motion

Alarm 22324

Alarm 22324

Stationary

+/-

+/-

Positioning mode SPOS

In motion

-

+/-

Stationary

+/-

+/-

Positioning across block bounda-

In motion

Alarm 10610

-

ries SPOSA

Axis mode

In motion

-

+/-

Stationary

+/-

+/-

+: Possible

-: Not possible

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4.4 Coordinate systems

Geometry axes

• PRESETONS can be used on a stationary geometry axis when a further geometry axis is not

being traversed in the channel at the same time.

• PRESETONS can be used on a stationary geometry axis even when a further geometry axis

is being traversed in the channel at the same time, but this axis is in the "neutral axis" state

or traversing as a command axis.

Example: A further geometry (X) is traversing at the same time in the "neutral axis" state

Program code

Comment

N10 G0 X0 Y0

; X, Y: Geometry axes

N15 RELEASE(Y) ¹⁾

; Neutral axis

N20 PRESETONS(Y,20)

; Actual position Y in the MCS =

20

N30 G0 X40

; Geometry axis X traverses

N40 M30

1) Note

The release of an axis in the action part of a synchronized action does not ensure that the release is

on time.

N20 ID=1 WHEN 20.0 < $AA_IM[X] DO RELEASE(Y) PRESETONS(Y,20) ; NOT

recommended!

Example: Another geometry axis (X) is traversing at the same time as command axis

Program code

Comment

N10 G0 X0 Y0

; X, Y: Geometry axes

N20 POS[X]=40 FA[X]=1000

; X command axis

N30 PRESETONS(Y,20)

; Actual position Y in the MCS =

20

N40 M30

PLC-controlled axes

PRESETONS can be used on PLC-controlled axes according to their current type.

Spindle states

The following table shows the reactions that occur when PRESETONS is used on a spindle in a

synchronized action:

PRESETONS in the NC program

Spindle mode

Traversing sta-

Assigned to the NC

Main axis

tus

program

Speed control mode

In motion

Alarm 22324

Alarm 22324

Stationary

+/-

+/-

Positioning mode SPOS

In motion

-

+/-

Stationary

+/-

+/-

Positioning across block bounda-

In motion

Alarm 10610

-

ries SPOSA

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Axes, coordinate systems, frames

4.4 Coordinate systems

PRESETONS in the NC program

Spindle mode

Traversing sta-

Assigned to the NC

Main axis

tus

program

Axis mode

In motion

-

+/-

Stationary

+/-

+/-

+: Possible

-: Not possible

Axis couplings

• Leading axes: The sudden change of the leading axis position caused by PRESETONS is not

traversed in the following axes. The coupling is not changed.

• Following axes: Only the overlaid position component of the following axis is affected

by PRESETONS.

Gantry grouping

If PRESETONS is used on the guide axis of a gantry grouping, the work offset is also performed

in all synchronized axes of the gantry grouping.

Indexing axes

PRESETONS can be used on indexing axes.

Software limit switches, operating range limit, protection areas

If the axis position is outside the specified limits after a work offset by PRESETONS, an alarm is

not displayed until an attempt is made to traverse the axis.

Block search with calculation

PRESETONS commands are collected during the block search and executed with the NC start to

continue the NC program.

Position-dependent NC/PLC interface signals

The status of the position-dependent NC/PLC interface signals is redetermined based on the new

actual position.

Example: Fixed point positions

• Parameterized fixed point positions: MD30600 $MA_FIX_POINT_POS[0...3] = <fixed point

position 1...4>

• NC/PLC interface signals DB31, ... DBX75.3 ... 5 (JOG approach fixed point: reached)

If the axis is at a fixed point position with the exact stop tolerance, the associated NC/PLC

interface signal is set. The NC/PLC interface signal is reset when the actual value is set by

PRESETONS to a different value outside the exact stop tolerance around the fixed point position.

DRF offset

A DRF offset of the axis is deleted by PRESETONS.

Overlaid movement $AA_OFF

An overlaid movement from a synchronized action with $AA_OFF is not affected by

PRESETONS.

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4.4 Coordinate systems

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MCS=BCS without kinematic transformation

Machine tools with kinematic transformation

The BCS and MCS do not coincide when the BCS is mapped onto the MCS with kinematic

transformation (e.g. TRANSMIT / face transformation, 5-axis transformation or more than

three axes).

On such machines the machine axes and geometry axes must have different names.

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Kinematic transformation between the MCS and BCS

Machine kinematics

The workpiece is always programmed in a two- or three-dimensional, right-angled coordinate

system (WCS). However, such workpieces are being programmed ever more frequently on

machine tools with rotary axes or linear axes not perpendicular to one another. Kinematic

transformation is used to represent coordinates programmed in the workpiece coordinate

system (rectangular) in real machine movements.

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4.4 Coordinate systems

Further information

Function Manual Transformations, Multi-axis transformations

4.4.4

Basic zero system (BZS)

Basic zero system (BZS)

The basic zero system (BZS) is the basic coordinate system with a basic offset.

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Basic offset between BCS and BZS

Basic offset

The basic offset describes the coordinate transformation between BCS and BZS. It can be used,

for example, to define the palette zero.

The basic offset comprises:

• External work offset

• DRF offset

• Superimposed motion

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Axes, coordinate systems, frames

4.4 Coordinate systems

• Chained system frames

• Chained basic frames

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① A kinematic transformation is not active. This means that the machine coordinate system and

the basic coordinate system coincide.

② The basic zero system (BZS) with the pallet zero are obtained from the basic offset.

③ The settable work offset G54 or G55 specifies the "settable zero system" (SZS) for workpiece 1

or workpiece 2 respectively.

④ The workpiece coordinate system (WCS) results from the programmable coordinate transfor-

mation.

Figure 4-18

Example for coordinate systems on machine tool

The following applies:

• The user can change the basic offset from the part program, by means of an operator action

and from the PLC.

• If the basic offset is to take effect immediately, an ASUB can be started via the PLC using FC9

in order to execute the appropriate G command.

Note

Recommendation to the machine manufacturer

Use the 3rd basic offset onwards for your own applications.

The 1st and 2nd basic offset are reserved for "PRESET" and the "Zero offset external".

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4.4 Coordinate systems

4.4.5

Settable zero system (SZS)

Settable zero system (SZS)

The "settable zero system" (SZS) is the workpiece coordinate system WCS with a programmable

frame (viewed from the perspective of the WCS). The workpiece zero is defined by the settable

FRAMES G54 to G599.

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Settable FRAME G54 ... G599 between BZS and SZS

Programmable offsets act on the "settable zero system". All programmable offsets refer to the

"settable zero system".

WCS actual-value display in WCS or SZS

The actual values of the axes in the machine coordinate system (MCS) or the WCS can be

displayed on the HMI operator interface. For displays in WCS, the actual values can also be

displayed in relation to the SZS. The corresponding parameterization takes place through the

machine data:

MD9424 $MM_MA_COORDINATE_SYSTEM (coordinate system for actual value display)

Value

Meaning

0

Actual value display in relation to the WCS

1

Actual value display in relation to the SZS

Note

Display of the current coordinate system

When "Actual-value display in relation to the SZS" is active, the WCS is still displayed on the HMI

operator interface as the coordinate system to which the actual-value display relates.

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Axes, coordinate systems, frames

4.4 Coordinate systems

Example

Actual value display in relation to the WCS or SZS

Code (excerpt)

Actual value display:

Actual value display:

Axis X (WCS)

Axis X (SZS)

N10 X100

100

100

N20 X0

0

0

N30 $P_PFRAME = CTRANS(X,10)

0

10

N40 X100

100

110

4.4.6

Workpiece coordinate system (WCS)

Workpiece coordinate system (WCS)

The workpiece coordinate system (WCS) is the programming basis.

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Programmable FRAME between SZS and WCS

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4.4 Coordinate systems

4.4.7

Additive offsets

4.4.7.1

External work offsets

The external work offset is a linear offset between the basic coordinate system (BCS) and the

basic zero system (BZS).

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The external work offset $AA_ETRANS is effective in two ways depending on the machine data

parameterization:

1. The $AA_ETRANS system variable has a direct effect as offset value after activation by the NC/

PLC interface signal.

2. The value of the $AA_ETRANS system variable is taken into the system frame $P:EXTFRAME

and the data management frame $P_EXTFR after activation by the NC/PLC interface signal.

The active complete frame $P_ACTFRAME is then recalculated.

Machine data

In conjunction with the $AA_ETRANS system variable, a distinction is made between two

procedures which are selected via the following machine data:

MD28082 $MC_MM_SYSTEM_FRAME_MASK, bit1 = <value>

<Value>

Meaning

0

Function: Direct writing of $AA_ETRANS[<axis>] by the PLC, HMI or NC program.

Enable to traverse the work offset of $AA_ETRANS[<axis>] in the next possible traversing block: DB31, ... DBX3.0

1

Function: Activation of the active system frame $P:EXTFRAME and the data management frame $P_EXTFR

Enable to traverse the work offset of $AA_ETRANS[<axis>] through: DB31, ... DBX3.0. The following is performed

in the channel:

• Stop of all traversing movements in the channel (except command and PLC axes)

• Preprocessing stop with subsequent reorganization (STOPRE)

• Coarse offset of the active frame $P_EXTFRAME[<axis>] = $AA_ETRANS[<axis>]

• Coarse offset of the data management frame $P_EXTFR[<axis>] = $AA_ETRANS[<axis>]

• Recalculation of the active complete frame $P_ACTFRAME

• Traversing of the offset in the programmed axes.

• Continuation of the interrupted traversing movement or the NC program

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Axes, coordinate systems, frames

4.4 Coordinate systems

Machine data

• The reset behavior for the system frame active of the $P_EXTFRAME external work offset in

the channel is set with the following machine data:

• MD24006 $MC_CHSFRAME_RESET_MASK, bit 1 = <value>

Value

Meaning

The active system frame of the external work offset after channel/program end reset

is:

0

Not active

1

Active

• The Power On behavior of the channel-specific system frame of the $P_EXTFR external work

offset of the data management is set with the following machine data:

MD24008 $MC_CHSFRAME_POWERON_MASK, bit 1 = <value>

Value

Meaning

The $P_EXTFR system frame of the external work offset for Power On

0

Not deleted

1

Deleted

4.4.8

Axis-specific overlay ($AA_OFF)

4.4.8.1

Function

Axis-specific system variable $AA_OFF[<axis>] can specify an absolute position or an

incremental distance of the specified axis in a synchronous action, for example. The resulting

traversing motion is then executed in parallel with the traversing motions of the channel of the

axis.

$AA_OFF[<axis>] = <value>

4.4.8.2

Commissioning

Machine data

Parameterization of the overlaid motion

The following settings for the overlaid movement are made in the axis-specific machine data:

36750 $MA_AA_OFF_MODE, bit<n> = <value>

Bit

Value

Meaning

0

0

Interpretation of the value of $AA_OFF as the absolute position

1

Interpretation of the value of $AA_OFF as the incremental path

1

0

The overlaid movement is deselected for channel reset.

1

The overlaid movement maintained beyond channel reset.

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Axes, coordinate systems, frames

4.4 Coordinate systems

Bit

Value

Meaning

2

0

In JOG mode, an overlaid movement is not retracted.

1

In JOG mode, an overlaid movement is retracted.

3

0

A superimposed motion is interrupted for NC stop.

1

A superimposed motion is not interrupted for NC stop.

System variable

Integrated path of the axis overlay

The integrated value of the overlaid movement can be read from the axis-specific system

variable.

<value> = $AA_OFF_VAL[<axis>]

4.4.8.3

Programming: Deselecting overlays axis-specifically (CORROF)

The following axis-specific overlays (overrides) are deleted with the CORROF procedure:

• Additive work offsets (DRF offsets) set via handwheel traversal

• Position offsets programmed via the $AA_OFF system variable

A preprocessing stop is initiated through the deletion of an overlay (override) value and the

position component of the deselected overlaid movement is transferred to the position in the

basic coordinate system. Whereby, no axis is traversed.

The position value that can be read via the $AA_IM system variable (current MCS setpoint of the

axis) does not change in the machine coordinate system.

The position value that can be read via the $AA_IW system variable (current WCS setpoint of the

axis) changes in the workpiece coordinate system because it now contains the deselected

component of the overlaid movement.

Note

CORROF can be programmed in an NC program.

CORROF must not be programmed in a synchronized action.

Syntax

CORROF(<Axis>,"<String>"[,<Axis>,"<String>"])

Meaning

CORROF:

Procedure for the deselection of the following offsets and overlays of an axis:

• DRF offset

• Position offsets ($AA_OFF)

Effectiveness:

Modal

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4.4 Coordinate systems

<Axis>:

Axis identifier (channel, geometry or machine axis identifier)

Data type:

AXIS

<String>:

Character string for the definition of the overlay type

Data type:

BOOL

Value

Meaning

DRF

DRF offset

AA_OFF

Position offset ($AA_OFF)

Examples

Example 1: Axis-specific deselection of a DRF offset (1)

A DRF offset is generated in the X axis by DRF handwheel traversal. No DRF offsets are operative

for any other axes in the channel.

Program code

Comment

N10 CORROF(X,"DRF")

; CORROF has the same effect as DRFOF here.

Example 2: Axis-specific deselection of a DRF offset (2)

A DRF offset is generated in the X and Y axes by DRF handwheel traversal. No DRF offsets are

operative for any other axes in the channel.

Program code

Comment

; Only the DRF offset of the X axis is deselected; the DRF offset of the Y axis is

retained.

; With DRFOF, both offsets would have been deselected.

N10 CORROF(X,"DRF")

Example 3: Axis-specific deselection of a $AA_OFF position offset

Program code

Comment

; A position offset == 10 is interpolated for the X axis.

N10 WHEN TRUE DO $AA_OFF[X]=10 G4 F5

; The position offset of the X axis is deselected: $AA_OFF[X]=0

; The X axis is not traversed.

; The position offset is added to the current position of the X axis.

N80 CORROF(X,"AA_OFF")

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Axes, coordinate systems, frames

4.5 Frames

4.5

Frames

4.5.1

Frame types

A frame is a data structure that contains values for offset (TRANS), fine offset (FINE), rotation

(ROT), mirroring (MIRROR) and scaling (SCALE) for axes.

When activating the frame, using the frame values, a static coordinate transformation for the

axes contained in the frame is performed using a defined algorithm.

Axis-specific frame

An axis-specific frame contains the frame values of an axis.

Example data structure of an axis-specific frame for geometry axis X:

Axis

TRANS

FINE

ROT

MIRROR

SCALE

X

10.0

0.1

0.0

0

1

Channel-specific frame

A channel-specific frame contains frame values for all channel axes (geometry, special and

machine axes).

Rotations (ROT) are only included in the calculation for geometry axes.

A channel-specific frame is only active in the channel in which the frame is defined.

Example of the data structure of a channel-specific frame:

• Geometry axes: X, Y, Z

• Special axes: A

• Machine axes: AX1

Axis

TRANS

FINE

ROT

MIRROR

SCALE

X

10.0

0.1

0.0

0

1

Y

0.0

0.0

0.0

1

1

Z

0.0

0.0

45.0

0

1

A

2.0

0.1

0.0

0

2

AX1

0.0

0.0

0.0

0

0

Global frame

A global frame contains the frame values for all machine axes.

A global frame is active in all channels of the NC.

Example data structure of global frame:

• Machine axes: AX1, ... AX5

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4.5 Frames

Axis

TRANS

FINE

ROT

MIRROR

SCALE

AX1

10.0

0.1

-

0

1

AX2

0.0

0.0

-

1

1

AX3

0.0

0.0

-

0

1

AX4

2.0

0.1

-

0

2

AX5

0.0

0.0

-

1

1

4.5.2

Frame components

4.5.2.1

Translation

Programming

The programming of the translation or coarse offset can be performed via the following

commands:

• Example of data management frames $P_UIFR

- Complete frame: $P_UIFR[<n>] = CTRANS(<K1>,<V1>[,<K2>,<V2>]

[,<K3>,<V3>])

with Km = coordinate x, y or z and Vm = offset m

- Frame component: $P_UIFR[<n>,<k>,TR] = <V>

with K = coordinate x, y or z and V = offset

• Example of programmable frame

- TRANS <K1> <V1> [<K2> <V2>][<K3> <V3>]

with Km = coordinate x, y or z and Vm = offset m

Programs examples:

Program code

Remark

$P_UIFR[1] = CTRANS(X,10,Y,10)

Complete frame

$P_UIFR[1,X,TR] = 10

Frame components

TRANS X=10 Y=10

Programmable frame

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Offset in the Z direction

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4.5 Frames

4.5.2.2

Fine offset

Parameterization

The fine offset is enabled via the machine data:

MD18600 $MN_MM_FRAME_FINE_TRANS = <value>

Value

Meaning

0

The fine offset cannot be entered or programmed.

1

Fine offset is possible for settable frames, basic frames and the programmable frame via com-

mand or program.

Programming

The programming of the translation or coarse offset can be performed via the following

commands:

• Example of data management frames $P_UIFR

- Complete frame: $P_UIFR[<n>] = CFINE(<K1>,<V1>[,<K2>,<V2>]

[,<K3>,<V3>])

with Km = coordinate x, y or z and Vm = offset m

- Frame component: $P_UIFR[<n>,<K>,FI] = <V>

with K = coordinate x, y or z and V = offset

• Example of programmable frame

- TRANS <K1> <V1> [<K2> <V2>][<K3> <V3>]

with Km = coordinate x, y or z and Vm = offset m

Programming examples:

Program code

Remark

$P_UIFR[1] = CTRANS(X,10,Y,10)

Complete frame

$P_UIFR[1,X,TR] = 10

Frame components

TRANS X=10 Y=10

Programmable frame

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Axes, coordinate systems, frames

4.5 Frames

4.5.2.3

Rotation Overview (geometry axes only)

Function

The direction of rotation around the coordinate axes is determined by means of a right-hand,

rectangular coordinate system with axes x, y and z. If the rotary motion is in a clockwise direction

when looking in the positive direction of the coordinate axis, the direction of rotation is positive.

A, B and C designate rotations whose axes are parallel to the coordinate axes.

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The following figure shows the new position of the coordinate system x', y' and z' after the

rotation around z with γ = -45°

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Parameterization of the rotation sequence

The following machine data is used to set around which coordinate axes and in which order the

rotations are performed when more than one angle of rotation is programmed:

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4.5 Frames

MD10600 $MN_FRAME_ANGLE_INPUT_MODE = <value>

Value

Meaning

1

Euler angles in zy'x'' convention (RPY angles)

2

Euler angles in zx'z" convention

Note

For historical reasons, Euler angles in zx'z" convention can be used. However, it is strongly

recommended that only Euler angles in zy'x" convention (RPY angles) be used (see

Section Rotation with a Euler angles: ZY'X" convention (RPY angles) (Page 305)).

4.5.2.4

Rotation with a Euler angles: ZY'X" convention (RPY angles)

Euler angles in the ZY'X" convention are also called RPY angles. RPY is derived from rolling,

pitching and yawing:

<DZ

=

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For the ZY'X'' convention, the rotations are carried out in the following sequence:

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Axes, coordinate systems, frames

4.5 Frames

Value range

With RPY angles, programmed values can only be unambiguously calculated back within the

following value ranges:

-180

≤

x

≤

180

-90

y

90

<

<

-180

z

180

≤

≤

Programming: Writing all rotation components

When programming the rotating components of a frame usingCROT, ROT or AROT, all rotating

components are always written to. Rotating components not explicitly programmed are

assigned a value of 0°.

Syntax

<frame> = CROT([<1st GAx>,<angle>,][<2nd GAx>,<angle>,][<3rd

GAx>,<angle>])

ROT [<1st GAx> <Angle>] [<2. GAx> <Angle>] [<3. GAx> <Angle>]

AROT [<1st GAx> <Angle>] [<2. GAx> <Angle>] [<3. GAx> <Angle>]

Meaning

CROT:

Absolute rotation

<Frame>:

Arbitrary active or data management frame

ROT:

Absolute rotation

Reference frame: Programmable frame $P_PFRAME,

reference point: Zero point of the current workpiece coordinate system set

with G54 ... G57, G505 ... G599

AROT:

Additive rotation

Reference frame: Programmable frame $P_PFRAME,

reference point: Zero point of the current workpiece coordinate system set

with G54 ... G57, G505 ... G599

<nth GAx>:

Name of the nth geometry axis around which rotation is to be performed

with the specified angle. The value 0° is implicitly set as angle of rotation for

a geometry axis that has not been programmed.

Assignment of geometry axis to rotary axis:

Geometry axis

Rotary axis

1st geometry axis

x''

2nd geometry axis

y'

3rd geometry axis

z

<angle>:

Angle specification in degrees.

[...]:

The data in square brackets are optional.

Programming: Writing to a rotation component

When explicitly programming a rotation component of a frame, only the programmed rotation

component is written. Rotation components that have not been programmed remain

unchanged.

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4.5 Frames

Syntax

<frame>[<index>,<GAx>,RT] = <angle>

Meaning

<Frame>:

Arbitrary active frame or data management frame

<Index>:

Array index of the frame, e.g. $P_UIFR[0 ... n]

<GAx>:

Name of the geometry axis around which rotation is to be performed with

the specified angle.

RT:

Keyword for rotation "RoTation"

<Angle>

Angle specification in degrees.

Reading back the rotation components

In general, the same values are obtained when reading back the rotation components of a frame

as those that were programmed:

Programmed

Values when reading back

x, RT

y, RT

z, RT

<Frame> = CROT(X,45,Y,30,Z,-20)

45

30

-20

Values outside the value range

Programmed values outside a value range are mapped on the range limits:

Programmed

Values when reading back

x, RT

y, RT

z, RT

<Frame> = CROT(X,190,Y,0,Z,-200)

-170

0

160

Note

It is recommended that when writing the rotation components of the frame, the specified value

ranges are observed so that the same values are obtained when reading back the rotation

components.

Gimbal lock

Gimbal lock designates a geometric problem in which the rotation components can no longer be

unambiguously calculated back from the position vector. Gimbal lock occurs in RPY angles with

an angular position of the rotation component y = 90°. In this case, the rotation components are

converted by the control system after being written so that the following applies:

• Rotation component z = rotation component z - rotation component x

• Rotation component x = 0°

• Rotation component y = 90°

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4.5 Frames

Programmed

Values when reading back

x, RT

y, RT

z, RT

<Frame> = CROT(X,30,Y,90,Z,40)

0

90

40 - 30 = 10

CAUTION

Different values for reading back the rotation component z

Because of the different conversion times after writing the complete frame or the writing

of individual rotation components of a data management frame and the writing

of individual rotation components of an active frame, different values can be read back for

rotation component z.

Differences when writing the complete frame and frame components

Two cases must be distinguished when writing the rotation components of a frame:

1. Writing the complete frame: <Frame> = CROT(X,a,Y,b,Z,c)

When writing the complete frame, the conversion is immediately at the time of writing.

2. Writing individual rotation components, e.g. rotation around X: <Frame>[0,X,RT]= <a>

When writing individual rotation components, the conversion depends on the storage

location of the frame:

- Data management frames

With data management frames, the conversion is at the time of activation of the frame

based on the rotation components written by this time. With regard to the conversion of

a data management frame, a data management frame therefore behaves in the same

way after writing individual rotation components as when writing the complete frame.

- Active frames

In the case of active frames, the conversion is immediately at the time of writing of the

rotation component.

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4.5 Frames

Example

•

Writing the complete frame

The conversion is made in each block after the complete frame has been written.

Programmed

Values when reading back

x, RT

y, RT

z, RT

N10 <Frame> = CROT(X,0,Y,90,Z,90)

0

90

90

N20 <Frame> = CROT(X,90,Y,90)

0

90

-90 ¹⁾

N30 <Frame> = CROT(X,90,Y,90,Z,90)

0

90

0 ¹⁾

1) Different values compared to the writing of individual rotation components of an active frame

•

Writing individual rotation components of a data management frame

The conversion is performed on the activation of the data management frame. In the

example, at any time after N30.

Programmed

Values when reading back

x, RT

y, RT

z, RT

N10 <Data management frame>[0,X,RT] = 0

0

90

90

N20 <Data management frame>[0,Y,RT] = 90

N30 <Data management frame>[0,Z,RT] = 90

N10 <Data management frame>[0,X,RT] = 90

0

90

-90 ¹⁾

N20 <Data management frame>[0,Y,RT] = 90

N30 <Data management frame>[0,Z,RT] = 0

N10 <Data management frame>[0,X,RT] = 90

0

90

0 ¹⁾

N20 <Data management frame>[0,Y,RT] = 90

N30 <Data management frame>[0,Z,RT] = 90

1) Different values compared to the writing of individual rotation components of an active frame

•

Writing individual rotation components of an active frame

Any required conversion is performed immediately on writing the rotation component.

The stored initial values of the active frame are: x = 0, y = 0, z = 0.

Programmed

Values when reading back

x, RT

y, RT

z, RT

N10 <Active frame>[0,X,RT] = 0

0

90

90

N20 <Active frame>[0,Y,RT] = 90

N30 <Active frame>[0,Y,RT] = 90

N10 <Active frame>[0,X,RT] = 90

0

90

0 ¹⁾

N20 <Active frame>[0,Y,RT] = 90

N30 <Active frame>[0,Y,RT] = 0

N10 <Active frame>[0,X,RT] = 90

0

90

90 ¹⁾

N20 <Active frame>[0,Y,RT] = 90

N30 <Active frame>[0,Y,RT] = 90

1) Different values compared to the writing of the complete frame or the writing of individual

rotation components of a data management frame

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Axes, coordinate systems, frames

4.5 Frames

4.5.2.5

Rotation with a Euler angles: ZX'Z" convention

With Euler angles, the rotations are in the order z, x', z".

Note

Recommended use

For historical reasons, Euler angles in zx'z" convention can be used. However, it is strongly

recommended that only Euler angles in zy'x" convention (RPY angles) be used (see

Section Rotation with a Euler angles: ZY'X" convention (RPY angles) (Page 305)).

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Assignment of rotary axis to geometry axis

Rotary axis

Geometry axis in channel

z

3rd geometry axis

x'

1st geometry axis

z''

3rd geometry axis

Value range

Data from Euler angles can only be unambiguously calculated back within the following value

ranges:

0

<=

x

<

180

-180

<=

y

<=

180

-180

<=

z

<=

180

For data outside the specified value ranges, a modulo conversion is made referred to the value

of the particular range limit.

Note

It is recommended that when writing the rotation components of the frame, the specified value

ranges are observed so that the same values are obtained when reading back the rotation

components.

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4.5 Frames

4.5.2.7

Scaling

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Programming

The program commands below are used to program the scaling:

$P_UIFR[1] = CSCALE(x,1,y,1)

SCALE x = 1y = 1

$P_UIFR[1,x,sc] = 1

4.5.2.8

Mirroring

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Programming

The program commands below are used to program a mirroring:

$P_UIFR[1] = CMIRROR(x,1,y,1)

MIRROR x = 1y = 1

$P_UIFR[1,x,mi] = 1

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4.5 Frames

$P_PFRAME=CSCALE(X,Scale,Y,scale,SPI(2),scale)

$P_PFRAME=CMIRROR(S1,Y,Z)

$P_UBFR=CTRANS(A,10):CFINE(SPI(1),0.1)

4.5.2.11

Coordinate transformation

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The formulae below are used to discover the coordinate transformation for geometry axes:

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Y

5

6

0 Y W

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Y LQY 0

LQY 6

LQY 5

Y W

V:

Position vector in BCS

V':

Position vector in WCS

4.5.3

Data management frames and active frames

4.5.3.1

Overview

Frame types

The following frame types are available:

• System frames ($P_PARTFR, ... see figure)

• Basic frames ($P_NCBFR[<n>], $P_CHBFR[<n>])

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4.5 Frames

• Grinding frames ($P_GFR[<n>])

• Settable frames ($P_UIFR[<n>])

• Programmable frame ($P_PFRAME)

For all frame types except the programmable frame, one or more frames exist in the data

management (data management frames) in addition to the frame active in the channel. For the

programmable frame, only the frame active in the channel exists.

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Axes, coordinate systems, frames

4.5 Frames

MD24050 $MC_FRAME_SAA_MODE (save and activate data management frames)

Bit

Val-

Meaning

ue

0

0

@@@

1

• Data management frames are only activated by programming the system variables

$P_CHBFRMASK, $P_NCBFRMASK and $P_CHSFRMASK.

• G500...G599 activates the appropriate settable frame.

1

0

Data management frames are implicitly described by functions, such as TOROT, PAROT,

external work offset and transformations.

1

Data management frames are not implicitly described by functions, such as TOROT,

PAROT, external work offset and transformations.

Activation of system frames via system variable $P_CHSFRMASK

The system frames of the data management can be activated using system variable

$P_CHSFRMASK. The value of the variables is specified as bit coded according to the machine

data:

MD28082 $MC_MM_SYSTEM_FRAME_MASK (system frames of the data management)

The corresponding system frame of the data management in the channel is activated by setting

a bit of system variable $P_CHSFRMASK to 1. For a value of 0, the currently active system frame

in the channel remains active.

Activating system frames after RESET

After RESET, the system frames in the channel are activated whose bits are set in the following

machine data:

MD24006 $MC_CHSFRAME_RESET_MASK (active system frames after Reset)

Activating system frames for TCARR, PAROT and TOROT, TOFRAME

The system frames for TCARR, PAROT and TOROT, TOFRAME are activated according to the

setting in the following machine data:

MD20150 $MC_GCODE_RESET_VALUES (reset setting of the G groups)

When changing over geometry axes using transformation selection/deselection or the GEOAX

command, the actual total frame $P_ACTFRAME is either deleted or is re-calculated using the

new geometry axis constellation and activated. The system frames and all other frames are

conditioned again in relation to the geometry axes.

4.5.3.3

NCU-global and channel-specific frames

• Settable frames and grinding frames can only be configured as NCU-global or channel-

specific frames.

• Basic frames can be configured as NCU-global and channel-specific frames.

• An NCU-global frame has the same effect in all channels of the NCU.

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Axes, coordinate systems, frames

4.5 Frames

Frame chain

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WCS: Workpiece Coordinate System

SZS:

Settable Zero System

BZS:

Basic Zero System

BCS:

Basic Coordinate System

MCS: Machine Coordinate System

Complete frame

The current complete frame $P_ACTFRAME results from the chaining of all active frames of the

frame chain:

$P_ACTFRAME =

$P_PARTFRAME : $P_SETFRAME : $P_EXTFRAME :

$P_ISO1FRAME : $P_ISO2FRAME : $P_ISO3FRAME :

$P_ACTBFRAME : $P_IFRAME : $P_GFRAME :

$P_TOOLFRAME :$P_WPFRAME : $P_TRAFRAME :

$P_PFRAME :$P_ISO4FRAME : $P_CYCFRAME

4.5.4.2

Relative coordinate systems

Relative coordinate systems display the current setpoint positions of the axes which lie relative

to a specified reference point in the active displayed coordinate system. No programming can be

done regarding the relative coordinate systems. Only the axis positions in these systems can be

read via the system variables.

The new display coordinate systems lie relative to WCS and SZS coordinate system and result

through transformation of the WCS or SZS axis positions with the active system frame

$P_RELFRAME. The relative coordinate systems can not only be displaced linearly, but also

rotated, mirrored, compressed or expanded.

The position indicator for axis setpoints is done in WCS or in SZS. The configuring is done via HMI

machine data. Always only one display-coordinate system is active in the channel. For this

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Axes, coordinate systems, frames

4.5 Frames

reason only one relative frame is provided which generates both relative coordinate systems in

the same ratio. The HMI displays the relative coordinates according to the configuration.

:&6_5(/

$P_RELFRAME

6=6_5(/

$P_RELFRAME

:&6

6=6

Figure 4-22

Relative coordinate systems

The "Relative coordinate systems" function is activated with MD51036

$MNS_ENABLE_COORDINATE_REL=1.

The data maintenance frame $P_RELFR can be written in the part program and via BTSS. All the

frame components can be modified.

The active system frame $P_RELFRAME can be written in the part program and via BTSS.

The configuring of the system frame $P_RELFR is done via the following machine data:

Machine data

Bit

Meaning

MD28082 $MC_MM_SYSTEM_FRAME_MASK

11

Creation of $P_RELFR; with this, relative coordinate

systems become existent.

MD28083 $MC_MM_SYSTEM_DATAFRAME_MASK

11

Data maintenance frame $P_RELFR

MD24006 $MC_CHSFRAME_RESET_MASK.

11

$P_RELFR becomes active at Reset

MD24007 $MC_CHSFRAME_RESET_CLEAR_MASK

11

$P_RELFR is deleted at Reset

MD24008 $MC_CHSFRAME_POWERON_MASK

11

$P_RELFR is deleted at PowerOn

The axis position in the relative coordinate system WCS_Rel can be read via the variable

$AA_PCS_REL[ax]. The variable can be read in part program, BTSS and via synchronized actions.

The axis position in the relative coordinate system SZS_Rel can be read via the variable

$AA_ACS_REL[ax]. The variable can be read in part program, BTSS and via synchronized actions.

The setting of a relative reference point via the operator panel is done via the general command

interface for the workpiece and tool measuring. The system frame $P_RELFR for relative

coordinate systems is calculated and activated as follows:

• $AC_MEAS_TYPE = 14

• PI-services _N_SETUDT(6, 7)

An example of setting the relative axis positions can be found in:

Further information

Function Manual Technologies; Measurement (M5)

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4.5 Frames

4.5.4.3

Selectable SZS

Within a cycle, machining is performed in a cycle-specific workpiece coordinate system (WCS).

The cycle-specific WCS results from SZS transformed by the programmable frame $P_PFRAME

and/or cycle frame $P_CYCFRAME programmed for the cycle.

If a cycle is interrupted by a machine operator, e.g. through an NC stop, traversing should then

be performed in the original coordinate system (SZS) valid before the activation of the cycle.

Machine data

The specification how the SZS is to be calculated from the cycle-specific WCS is set via the

following machine data.

MD24030 $MC_FRAME_ACS_SET = <value>

<value>

Meaning

0

SZS = WCS transformed with $P_TRAFRAME, $P_PFRAME, $P_ISO4FRAME and $P_CYCFRAME

1

SZS = WCS transformed only with $P_CYCFRAME

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$P_TRAFRAME : $P_PFRAME :

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① SZS = WCS transformed with $P_TRAFRAME, $P_PFRAME, $P_ISO4FRAME and $P_CYCFRAME

② SZS = WCS transformed only with $P_CYCFRAME

Effects

The reconfiguration of the SZS has an effect on:

• SZS-related actual values: Actual-value displays, system variables, e.g. $AA_IEN, etc.

• Manual traversing (JOG) of geometry axes in the SZS

4.5.4.4

Manual traversing of geometry axes either in the WCS or in the SZS

($AC_JOG_COORD)

Previously, geometry axes have been traversed manually in JOG mode in the WCS. In addition,

there is also the option to carry out this manual traversing in the SZS coordinate system. The

$AC_JOG_COORD variable enables the user to switch between manual traversing in the WCS and

SZS. The user can now select if he wants to traverse in the SZS or the WCS.

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Axes, coordinate systems, frames

4.5 Frames

During manual traversing in the JOG mode, the geometry axes can be traversed either in the

workpiece coordinate system (WCS) or in the settable zero system (SZS).

System variables

During manual traversing in the JOG mode, the geometry axes can be traversed either in the

workpiece coordinate system (WCS) or in the settable zero system (SZS). The selection is made

via the system variable $AC_JOG_COORD:

$AC_JOG_COORD = <value>

<Val-

Meaning

ue>

0

Workpiece coordinate system (WCS)

1

Settable zero system (SZS)

4.5.4.5

Suppression of frames

Suppression of frames is performed channel-specifically via the commands G53, G135

and SUPA described in the following. Activation of the frame suppression results in jumps in the

position display (HMI) as well as in the position values in system variables that refer to the WCS,

SZS or BZS. The behavior can be set via machine data.

SUPA

G153

G53

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Machine data

The behavior of position displays (HMI) and position values in system variables is specified via

the following machine data:

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4.5 Frames

MD24020 $MC_FRAME_SUPPRESS_MODE, bit<n> = <value> (positions during frame

suppression)

Bit

Val-

Meaning

ue

0

0

Position values (OPI) with frame suppression ¹⁾

1

Position values (OPI) without frame suppression ²⁾

1

0

Position values in system variables with frame suppression ¹⁾

1

Position values in system variables without frame suppression ²⁾

1) Jump of the position value

2) No jump of the position value

Programming

Com-

Meaning

mand

G53:

Nonmodal suppression of the following frames:

$P_TRAFRAME : $P_PFRAME : $P_ISO4FRAME : $P_CYCFRAME

$P_IFRAME : $P_GFRAME : $P_TOOLFRAME : $P_WPFRAME :

G153:

Non-modal suppression of the frames as for G53 plus following frames:

$P_PARTFRAME : $P_SETFRAME : $P_EXTFRAME : $P_ACTBFRAME

$P_ISO1FRAME : $P_ISO2FRAME : $P_ISO3FRAME :

SUPA:

Implicit preprocessing stop and non-modal suppression of the frames as for G53 and G135

plus following frames:

• Handwheel offsets (DRF)

• Overlaid movement

• External work offset

G500:

Modal activation of the G500 frame. The G500 frame should normally be a zero frame.

DRFOF:

Deactivation (deletion) of the handwheel offsets (DRF)

4.5.5

Frames of the frame chain

4.5.5.1

Overview

The following frames are available:

• Settable frames (G500, G54 ... G57, G505 ... G599)

• Grinding frames (GFRAME0 ... GFRAME100)

• Basic frames

• Programmable frame

• System frames

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4.5 Frames

4.5.5.2

Settable frames ($P_UIFR[<n>])

Machine data

Channel-specific settable frames

The number of channel-specific settable frames is set with the following machine data:

MD28080 $MC_MM_NUM_USER_FRAMES = <number>

System variable index n = 0, 1, 2, ... <number> - 1

NCU-global settable frames

The number of NCU-global settable frames is set with the following machine data:

MD18601 $MN_MM_NUM_GLOBAL_USER_FRAMES = <number>

System variable index n = 0, 1, 2, ... <number> - 1

If the machine data has a value > 0, there are no channel-specific settable frames. The machine

data to set the channel-specific settable frames is then not evaluated.

Reset position of the G group of the settable frames

The reset position or which of the G commands of the settable frame-specific 8th G group take

effect after channel reset or Power On is set in:

MD20150 $MC_GCODE_RESET_VALUES[7] = <value>

Value

G command

1

G500

2

G54

3

G55

4

G56

5

G57

6

G505

100

G599

Reset behavior of the grinding-specific G group

The reset behavior of the settable frame-specific 8th G group is set in:

MD20152 $MC_GCODE_RESET_MODE[7] = <value>

Value

Meaning

After channel reset or part program end:

0

The settable frame-specific G command in accordance with MD20150 is active.

1

The currently active settable frame-specific G command remains active.

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4.5 Frames

Note

MD20110 $MC_RESET_MODE_MASK

The MD20152 $MC_GCODE_RESET_MODE machine data is evaluated only for:

MD20110 $MC_RESET_MODE_MASK, bit 0 == 1

System variables

$P_UIFR[<n>] (settable frames of the data management)

System variable $P_UIFR[<n>] can be used to read and write the settable frames of the data

management. The new values are not immediately active in the channel when writing a settable

frame of the data management. The activation in the channel only takes effect with the

programming of a work offset G500, G54...G599.

For NCU-global frames, the changed settable frame of the data management is active in each

channel of the NCU which executes a G500, G54..G599 command.

The settable frames in the data management are also stored during a data backup.

$P_IFRAME (active settable frame)

System variable $P_IFRAME can be used to read and write the settable frame active in the

channel. The new values are immediately active in the channel when writing the settable frame.

In the case of NCU-global settable frames, the changed active frame acts only in the channel in

which the new values were programmed. If the changed NCU-global settable frame is to be

active in all channels of the NCU, the settable frame active in the channel and the corresponding

settable frame of the data management must be written together:

$P_UIFR[<n>] = $P_IFRAME = <new value>

• $P_UIFR[<n>] (settable frame in the data management)

• $P_IFRAME (settable frame active in the channel)

For the changed settable frame to take effect in another channel, it must be activated in this

channel with the appropriate command, e.g. G54.

$P_UIFRNUM (number of active settable frame)

System variable $P_UIFRNUM can be used to read the index <n> of the settable frame of the data

management active in the channel:

Settable frame active in the channel $P_IFRAME == $P_UIFR[ $P_UIFRNUM ]

$P_UIFRNUM

$P_IFRAME == $P_UIFR[<n>], where n =

0

0

1

1

2

2

99

99

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4.5 Frames

Programming

Commands for activating a settable frame in the channel

The programming of a G500, G54...G599 command activates the settable frame of the

$P_UIFR[<n>] data management in the channel or the active $P_IFRAME settable frame set

identical to the settable frame of the $P_UIFR[<n>] data management:

G<x> ⇒ $P_IFRAME = $P_UIFR[<n>]

Command

Active settable frame $P_IFRAME

G500

$P_UIFR[0]

G54

$P_UIFR[1]

G55

$P_UIFR[2]

G56

$P_UIFR[3]

G57

$P_UIFR[4]

G505

$P_UIFR[5]

G599

$P_UIFR[99]

Supplementary conditions

Writing of settable frames through HMI/PLC

Only the settable frames of the data management can be written from the HMI or the PLC user

program.

4.5.5.3

Grinding frames $P_GFR[<n>]

Grinding frames are additional work offsets or "fit-dependent corrections" available particularly

for the grinding technology. They are added to the work offset of the adjustable frames

(Page 324).

$P_FRAME

$P_GFR[1]

$P_GFR[2]

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(16*

(16*

$P_ACTFRAME

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Grinding frames

Based on the base zero system (BZS), the settable zero system (SZS) results from the chaining of

the frames active in the channel:

$P_IFRAME: $P_GFRAME : $P_TOOLFRAME :$P_WPFRAME

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4.5 Frames

Machine data

Number of channel-specific grinding frames

The number of channel-specific grinding frames is set in:

MD28079 $MN_MM_NUM_G_FRAMES = <number>

with <number> = 0, 1, 2, ... maximum number

Number of NCU-global grinding frames

The number of NCU-global grinding frames is set in:

MD18603 $MN_MM_NUM_GLOBAL_G_FRAMES = <number>

with <number> = 0, 1, 2, ... maximum number

If the machine data has a value > 0, there are no channel-specific grinding frames. The machine

data to set the channel-specific grinding frames is then not evaluated.

Reset position of the grinding-specific G group (64)

The reset position or which of the G commands of the grinding-specific 64th G group take

effect after channel reset or Power On is set in:

MD20150 $MC_GCODE_RESET_VALUES[63] = <value>

Value

G command

1

GFRAME0 (zero frame)

2

GFRAME1

3

GFRAME2

101

GFRAME100

Reset behavior of the grinding-specific G group

The reset behavior of the grinding-specific 64th G group is set in:

MD20152 $MC_GCODE_RESET_MODE[63] = <value>

Value

Meaning

After channel reset or part program end:

0

The grinding-specific G command in accordance with MD20150 is active.

1

The currently active grinding-specific G command remains active.

Note

MD20110 $MC_RESET_MODE_MASK

The MD20152 $MC_GCODE_RESET_MODE machine data is evaluated only for:

MD20110 $MC_RESET_MODE_MASK, bit 0 == 1

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4.5 Frames

Grinding frame active in the channel $P_GFRAME == $P_GFR[ $P_GFRNUM ]

$P_GFRAME grinding frame activated with the

$P_GFRNUM

G command GFRAME<n>:

GFRAME0

0

GFRAME1

1

GFRAME2

2

GFRAME100

100

Programming

Command for activating a grinding frame in the channel

The programming of the GFRAME<n> command makes the associated grinding frame of the

$P_GFR[<n>] data management active in the channel. This sets the active $P_GFRAME grinding

frame identical to the $P_GFR[<n>] grinding frame of the data management:

GFRAME<n> ⇒ $P_GFRAME = $P_GFR[<n>]

Command

Grinding frame activated in the channel

GFRAME0

$P_GFR[0] (null frame)

GFRAME1

$P_GFR[1]

GFRAME100

$P_GFR[100]

Syntax

GFRAME<n>

Meaning

GFRAME<n>:

Activation of the grinding frame <n> of the data management

G group:

64

Basic position:

MD20150 $MC_GCODE_RESET_VALUES[63]

Effectiveness:

Modal

<n>:

Number of the grinding frame

Range of values:

0, 1, 2, ... 100

Supplementary conditions

Writing of grinding frames through HMI/PLC

Only the grinding frames of the data management can be written from the HMI or the PLC user

program.

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Axes, coordinate systems, frames

4.5 Frames

For the changed NCU-global frame to take effect in another channel, it must be activated in this

channel with the appropriate command G500, G54..G599.

Programming

A channel-specific settable frame of the data management $P_UIFR[<n>] becomes the settable

frame $P_IFRAME active in the channel through the appropriate command (G54 ... G57, G505 ...

G599 and G500).

Command

Activation of the NCU-global and channel-spe-

cific basic frames of the data management

G500

$P_CHBFR[ 0 ] : $P_NCBFR[0]

G54

$P_CHBFR[ 1 ] : $P_NCBFR[1]

G55

$P_CHBFR[ 2 ] : $P_NCBFR[2]

G56

$P_CHBFR[ 3 ] : $P_NCBFR[3]

G57

$P_CHBFR[ 4 ] : $P_NCBFR[4]

G505

$P_CHBFR[ 5 ] : $P_NCBFR[5]

G599

$P_CHBFR[ 99 ] : $P_NCBFR[99]

4.5.5.6

Active complete basic frame $P_ACTBFRAME

Function

All active NCU-global and channel-specific basic frames are combined into the complete basic

frame $P_ACTBFRAME:

$P_ACTBFRAME = $P_NCBFRAME[0] : ... : $P_NCBFRAME[<n>] :

$P_CHBFRAME[0] : ... : $P_CHBFRAME[<n>]

$P_ACTBFRAME

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3B&+%)5$0(> @

3B1&%)5$0(>Q@

3B1&%)5$0(> @

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Figure 4-24

Complete basic frame

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4.5 Frames

Machine data

Reset response

Which basic frames are active after a reset (channel reset, end of program reset or Power On) is

set via the machine data:

MD20110 $MC_RESET_MODE_MASK, bit0 = 1 and bit14 = 1

• Bit 1 = 0: Default value ⇒ reset behavior corresponding to the setting of the further bits

• Bit14 = 0: The basic frames are completely deselected with reset.

• Bit14 = 1: With reset, the machine data settings are taken over in the system variables and the

basic frames selected therein become active:

- $P_NCBFRMASK = MD10613 $MN_NCBFRAME_RESET_MASK

- $P_CHBFRMASK = MD24002 $MC_CHBFRAME_RESET_MASK

Example

Machine data setting

Active basic frames

$P_NCBFRMASK = MD10613 $MN_NCBFRAME_RE-

$P_NCBFRAME[0] : $P_NCBFRAME[7]

SET_MASK = 'H81'

Programming

Basic frame masks

The basic frames that are linked to form the complete basic frame are selected via the basic

frame masks $P_NCBFRMASK and $P_CHBFRMASK.

The appropriate basic frame is selected by setting a bit in the basic frame mask:

• $P_NCBFRMASK, bit 0, 1, 2, ... n

⇒ $P_NCBFRAME[0, 1, 2, ... n]

• $P_CHBFRMASK, bit 0, 1, 2, ... n

⇒ $P_NCHFRAME[0, 1, 2, ... n]

The basic frame masks $P_NCBFRMASK and $P_CHBFRMASK can only be read/written in the NC

program. The basic frame masks can be read via the OPI.

After writing a basic frame mask, the active complete basic frame $P_ACTBFRAME and

complete frame $P_ACTFRAME are recalculated.

Example

Program code

Comment

$P_NCBFRMASK = 'H81'

; Active NCU-global basic frames: $P_NCBFRAME[0] :

$P_NCBFRAME[7]

4.5.5.7

Programmable frame $P_PFRAME

Programmable frames are available only as active frames.

This frame is reserved for the programmer.

The programmable frame remains at RESET, if:

MD24010 $MC_PFRAME_RESET_MODE (reset mode for programmable frame) = 1

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4.5 Frames

G59 X... Y... Z... A

Example

TRANS X10 Y10 Z10

ATRANS X5 Y5

; Total translations X15 Y15 Z10

G58 X20

; Total translations X25 Y15 Z10

G59 X10 Y10

; Total translations X30 Y20 Z10

G58 and G59 can only be used if:

MD24000 $MC_FRAME_ADD_COMPONENTS (frame components for G58 / G59) == TRUE

The table below shows the effect of various program commands on the absolute and additive

translation.

Coarse or absolute offset

Fine or additive offset

TRANS X10

10

0

ATRANS X10

Unchanged

alt_fine + 10

CTRANS(X,10)

10

0

CTRANS()

0

0

CFINE(X,10)

0

10

$P_PFRAME[X,TR] = 10

10

Unchanged

$P_PFRAME[X,FI] = 10

Unchanged

10

G58 X10

10

Unchanged

G59 X10

Unchanged

10

4.5.5.8

Channelspecific system frames

Channel-specific system frames are only written by system functions, such as actual value

setting, scratching, external work offset and inclined machining.

Machine data

Parameterization of the channel-specific system frames

Only channel-specific system frames whose system functions are actually used should be

configured for memory space reasons.

Per channel, each system frame occupies approx. 1 KB static and approx. 6 KB dynamic memory.

The channel-specific system frames are parameterized in the following machine data:

MD28082 $MC_MM_SYSTEM_FRAME_MASK, bit<n>

Bit

Value

System frame available:

0

1

$P_SETFR: Actual value setting and scratching

1

1

$P_EXTFR: External work offset via system frames

2

1

$P_PARTFR: TCARR and PAROT with an orientable toolholder

3

1

$P_TOOLFR: TOROT and TOFRAME

4

1

$P_WPFR: Frame for workpiece reference points

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Axes, coordinate systems, frames

4.5 Frames

Bit

Value

System frame available:

5

1

$P_CYCFR: Frame for cycles

6

1

$P_TRAFR: Frame for selection and deselection of transformations

7

1

$P_ISO1FRAME : Frame for G51.1 mirroring (ISO)

8

1

$P_ISO2FRAME : Frame for G68 2DROT (ISO)

9

1

$P_ISO3FRAME : Frame for G68 3DROT (ISO)

10

1

$P_ISO4FRAME: Frame for G51 scale (ISO)

11

1

$P_RELFR: Frame for relative coordinate systems

Parameterization of the SZS (ACS) coordinate system

The following machine data is used to specify which system frames form the SZS (ACS)

coordinate system

MD24030 $MC_FRAME_ACS_SET = <value>

<value>

Meaning: The SZS (ACS) coordinate system comprises

0

$P_PARTFRAME : $P_SETFRAME : $P_EXTFRAME :$P_ISO1FRAME : $P_ISO2FRAME :

$P_ISO3FRAME :$P_ACTBFRAME : $P_IFRAME : $P_GFRAME : $P_TOOLFRAME :

$P_WPFRAME

1

$P_PARTFRAME : $P_SETFRAME : $P_EXTFRAME :$P_ISO1FRAME : $P_ISO2FRAME :

$P_ISO3FRAME :$P_ACTBFRAME : $P_IFRAME : $P_GFRAME : $P_TOOLFRAME :

$P_WPFRAME : $P_TRAFRAME :$P_PFRAME : $P_ISO4FRAME

System variables

Channel-specific system frames of the data management

The channel-specific system frames of the data management can be read and written via the

following frame variables:

System variable

Meaning: System frame of the data management for

$P_SETFR

Actual value setting and scratching (Set Frame)

$P_EXTFR

External work offset (Ext Frame)

$P_PARTFR

TCARR and PAROT for orientable toolholder (Part Frame)

$P_TOOLFR

TOROT and TOFRAME (Tool Frame)

$P_WPFR

Workpiece reference points (WorkPiece Frame)

$P_CYCFR

Cycles (Cycle Frame)

$P_TRAFRAME

Transformations (Transformation Frame)

$P_ISO1FR

G51.1 mirroring (ISO)

$P_ISO2FR

G68 2DROT (ISO)

$P_ISO3FR

G68 3DROT (ISO)

$P_ISO4FR

G51 scale (ISO)

$P_RELFR

Relative coordinate systems

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4.5 Frames

Note

Cycle programming

The frame variables of the system frames are only for the cycle programming. Therefore, in NC

programs the system frames should not be written directly by the user, but rather only via system

functions such as TOROT, PAROT, etc.

Channelspecific active system frames

System variables of the active channel-specific system frames:

System variable

Meaning: Active system frame for

$P_SETFRAME

Actual value setting and scratching (Set Frame)

$P_EXTFRAME

External work offset (Ext Frame)

$P_PARTFRAME

TCARR and PAROT for orientable toolholder (Part Frame)

$P_TOOLFRAME

TOROT and TOFRAME (Tool Frame)

$P_WPFRAME

Workpiece reference points (WorkPiece Frame)

$P_CYCFRAME

Cycles (Cycle Frame)

$P_TRAFRAME

Transformations (Transformation Frame)

$P_ISO1FRAME

G51.1 mirroring (ISO)

$P_ISO2FRAME

G68 2DROT (ISO)

$P_ISO3FRAME

G68 3DROT (ISO)

$P_ISO4FRAME

G51 scale (ISO)

$P_RELFRAME

Relative coordinate systems

If a channel-specific system frame of the data management is not parameterized, the following

applies for the corresponding active system frame: $P_<system frame> == null frame.

Channel-specific active SZS (ACS) complete frame

The system variable $P_ACSFRAME is used to read which system frames form the SZS (ACS)

coordinate system. The specification is made via the MD24030 $MC_FRAME_ACS_SET machine

data described above. See Subsection "Machine data" > "Parameterization of the SZS (ACS)

coordinate system"

System variable

Meaning: Active system frame for

$P_ACSFRAME

System frames that form the SZS (ACS) coordinate system in accordance with the

parameterization in MD24030 $MC_FRAME_ACS_SET

4.5.6

Implicit frame changes

4.5.6.1

Switching geometry axes

Which channel axes are the geometry axis of the channel can change by activating/deactivating

a transformation and with the GEOAX() command.

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Axes, coordinate systems, frames

4.5 Frames

Four different settings for handling the current $P_ACTFRAME complete frame can be made with

the following machine data:

MD10602 $MN_FRAME_GEOAX_CHANGE_MODE = <value>

<value>

Meaning

0

Delete

The current complete frame is deleted when geometry axes are switched over, when trans-

formations are selected and deselected, and on GEOAX().

The modified geometry axis configuration is not used until a new frame is activated.

1

New calculation on receipt of the rotations

The current complete frame is calculated again when the geometry axes are switched over,

whereby the frame components of the new geometry axes are effective. The rotations of the

geometry axes which were programmed before the switchover remain effective for the new

geometry axes.

For TRANSMIT, TRACYL and TRAANG, see Section "Selecting and deselecting transforma-

tions: General (Page 340)".

2

New calculation only when no rotations were active

The current complete frame is calculated again when the geometry axes are switched over,

whereby the frame components of the new geometry axes are effective. If rotations are active

in the current basic frames, the current settable frame or the programmable frame before the

switchover, it is aborted with the alarm "Frame: Geometry axis switchover not allowed".

For TRANSMIT, TRACYL and TRAANG, see Section "Selecting and deselecting transforma-

tions: General (Page 340)".

3

Transformation: Reset / GEOAX(): New calculation on receipt of the rotations

• Transformation: The current frame is deleted when selecting and deselecting transforma-

tions.

• GEOAX(): With GEOAX(), the current complete frame is calculated again and the trans-

lations, scalings and mirrorings of the new geometry axes come into effect. The rotations

of the geometry axes which were programmed before the switchover remain effective for

the new geometry axes.

The workpiece geometry is described by a coordinate system that is formed by the geometry

axes. A channel axis is assigned to each geometry axis and a machine axis is assigned to each

channel axis. An axis-specific frame exists for each machine axis (system frame, basic frame,

settable frame, programmable frame). If a different machine axis is assigned to a geometry axis,

the machine axis provides its own axis-specific frame components. The new geometry in the

channel is then generated by the new contour frames resulting from the new geometry axes (up

to three).

The current valid frames are calculated again on the geometry axis switchover and a resulting

complete frame is generated. The data management frames are not included unless they are

activated.

Example:

The channel axis A is to become a geometry axis X through geo axis substitution. The

substitution is to give the programmable frame a translation component of 10 in the X axis. The

current settable frame is to be retained.

MD10602 $MN_FRAME_GEOAX_CHANGE_MODE = 1

Program code

Comment

$P_UIFR[1] = CROT(X,10,Y,20,Z,30)

; Frame is retained after geo axis substitution.

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4.5 Frames

4.5.6.3

Selecting and deselecting transformations: TRANSMIT

\

F

[

Transmit expansions

The machine data below can be used to take the axis-specific complete frame of the TRANSMIT

rotary axis, i.e. translation, mirroring and scaling, into account in the transformation:

• MD24905 $MC_TRANSMIT_ROT_AX_FRAME_1 = 1

• MD24955 $MC_TRANSMIT_ROT_AX_FRAME_2 = 1

A rotary axis offset can, for example, be entered by compensating the oblique position of a

workpiece in a frame within a frame chain. As a rule, this offset can also be included in the

transformation as an offset in the rotary axis. A C axis offset, as in the figure above, then leads

to corresponding X and Y values.

• MD24905 $MC_TRANSMIT_ROT_AX_FRAME_1 = 2

• MD24955 $MC_TRANSMIT_ROT_AX_FRAME_2 = 2

With this setting, the axis-specific offset of the rotary axis is taken account of in the

transformation up to the SZS. The axis-specific offsets of the rotary axis included in the SZS

frames are entered into the transformation frame as rotation. This setting is only effective if the

transformation frame has been configured.

Frame expansions:

The expansions described below are only valid for the following machine data settings:

• MD10602 $MN_FRAME_GEOAX_CHANGE_MODE = 1

• MD10602 $MN_FRAME_GEOAX_CHANGE_MODE = 2

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