Table of contents
3.8.2.2
3.8.2.3
Calculating with frames ........................................................................................................636
3.8.2.4
3.8.3
3.8.4
3.8.5
3.8.6
3.8.7
3.8.8
Global frames.......................................................................................................................647
3.8.8.1
3.8.8.2
3.9
Transformations ...................................................................................................................654
3.9.1
3.9.1.1
3.9.1.2
3.9.2
3.9.2.1
3.9.2.2
3.9.2.3
3.9.2.4
3.9.2.5
3.9.2.6
3.9.2.7
ORIVIRT1, ORIVIRT2).........................................................................................................676
3.9.2.8
3.9.2.9
PO[ZH]=) ..............................................................................................................................681
3.9.3
3.9.4
3.9.5
3.9.5.1
3.9.5.2
rotation) ................................................................................................................................688
3.9.5.3
3.9.5.4
3.9.6
3.9.7
3.9.8
3.9.9
Kinematic transformation .....................................................................................................699
3.9.9.1
3.9.9.2
3.9.9.3
3.9.9.4
3.9.10
3.9.11
Cartesian PTP travel ............................................................................................................707
3.9.11.1
3.9.11.2
3.9.11.3
3.9.11.4
3.9.11.5
3.9.11.6
14
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
NC programming