Table of contents
5
5.1
5.1.1
5.2
5.2.1
5.2.2
5.2.3
Linking complete frames .......................................................................................................... 301
5.2.4
5.3
5.4
External zero offset.................................................................................................................. 306
5.5
Preset offset (PRESETON) ..................................................................................................... 307
5.6
5.7
NCU global frames ................................................................................................................. 313
5.7.1
5.7.2
6
Transformations ......................................................................................................................................321
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) ............................................................................................................ 346
6.2.8
6.2.9
PO[ZH]=) ................................................................................................................................. 352
6.3
6.4
6.5
6.5.1
6.5.2
angle of rotation) ...................................................................................................................... 361
6.5.3
6.5.4
6.6
6.7
6.8
Kinematic transformation ......................................................................................................... 371
6.8.1
10
Programming Manual, 02/2011, 6FC5398-2BP40-1BA0
Job planning