Siemens Sinumerik 840D sl Programming Manual page 497

Coordinate system
Identifier Return val‐
ue
CRPL FRAME
ADDFRAME INT:
0 = OK
1 = Speci‐
fied target
(string) is
incorrect
2 = Target
frame is
not config‐
ured
3 = Rota‐
tion in
frame is
not permit‐
ted
INVFRAME FRAME
MEAFRAME FRAME
Fundamentals
Programming Manual, 01/2015, 6FC5398-1BP40-5BA2
Parameter
1. 2.
INT: REAL:
Rotary axis Angle of rota‐
tion
FRAME: STRING:
Additively Specified tar‐
measured or get frame
calculated
frame
1.
FRAME
1. 2.
REAL[3,3]: REAL[3,3]:
Coordinates of Coordinates of
the measured the specified
spatial points points
3.
VAR REAL:
Variable with
which the infor‐
mation on the
quality of
FRAME calcu‐
lation is re‐
turned
Tables
17.7 Predefined functions
Explanation
Frame rotation in any
plane
Calculates the target
frame specified by the
string
The target frame is cal‐
culated in such a way
that the new complete
frame appears as a
chain of the old complete
frame and the transfer‐
red frame.
Calculates the inverse
frame from a frame
The frame chaining of a
frame with its inverse
frame always results in a
zero frame
Frame calculation from 3
measuring points in
space
497