Siemens SINUMERIK 840D sl Programming Manual page 279

Example
Translation, rotation and mirroring are activated by value assignment to the current
programmable frame.
N10 $P_PFRAME=CTRANS(X,10,Y,20,Z,5):CROT(Z,45):CMIRROR(Y)
Frame-red components are pre-assigned other values
With CROT, pre-assign all three UIFR components with values
Program code
$P_UIFR[5] = CROT(X, 0, Y, 0, Z, 0)
N100 $P_UIFR[5, y, rt]=0
N100 $P_UIFR[5, x, rt]=0
N100 $P_UIFR[5, z, rt]=0
Description
You can program several arithmetic rules in succession.
Example:
$P_PFRAME=CTRANS(...):CROT(...):CSCALE...
Job Planning
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
Coordinate transformations (frames)
5.2 Frame variables / assigning values to frames
Comment
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