Siemens SINUMERIK 840D sl Function Manual page 711

<Frame>=CROT(X,30,Y,90,Z,40)
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
– Active frames
Examples: Writing the complete frame
The conversion is made in each block after the complete frame has been written.
N10 <Frame>=CROT(X,0,Y,90,Z,90)
N20 <Frame>=CROT(X,90,Y,90)
N30 <Frame>=CROT(X,90,Y,90,Z,90)
1) Different values compared to the writing of individual rotation components of an active frame
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Programmed
CAUTION
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.
In the case of active frames, the conversion is immediately at time of writing of the
rotation component.
Programmed
K2: Axis Types, Coordinate Systems, Frames
Saved rotation components
x, RT y, RT
0 90
Saved rotation components
x, RT y, RT
0 90
0 90
0 90
10.5 Frames
z, RT
40 - 30 = 10
z, RT
90
-90
1)
0
1)
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