Siemens SINUMERIK 840Di Function Manual page 778

Detailed Description
2.4 Frames
Programming examples:
$P_PFRAME[SPI(1),TR]=22.22
$P_PFRAME=CTRANS (X, axis value, Y, axis value, SPI(1), axis value)
$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)
2.4.3.8 Coordinate transformation
The formulae below are used to discover the coordinate transformation for geometry axes:
V:
V':
2-48
Position vector in BCS
Position vector in WCS
Axis Types, Coordinate Systems, Frames (K2)
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0