Table of contents
5.2.2
5.2.3
Linking complete frames ........................................................................................................... 291
5.2.4
5.3
5.4
External zero offset ................................................................................................................... 295
5.5
Preset offset (PRESETON)....................................................................................................... 296
5.6
5.7
NCU global frames.................................................................................................................... 302
5.7.1
5.7.2
6
Transformations..................................................................................................................................... 309
6.1
6.1.1
6.1.2
6.2
6.2.1
6.2.2
6.2.3
6.2.4
6.2.5
6.2.6
6.2.7
ORIVIRT1, ORIVIRT2).............................................................................................................. 333
6.2.8
6.2.9
PO[ZH]=) ................................................................................................................................... 340
6.3
6.4
6.5
6.5.1
6.5.2
rotation) ..................................................................................................................................... 349
6.5.3
6.5.4
6.6
6.7
6.8
Kinematic transformation .......................................................................................................... 360
6.8.1
6.8.2
6.8.3
Inclined axis (TRAANG) ............................................................................................................ 372
6.8.4
6.9
Cartesian PTP travel ................................................................................................................. 377
6.9.1
PTP for TRANSMIT................................................................................................................... 381
6.10
6.11
10
Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
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