Siemens SINUMERIK 840Di Function Manual page 857

Program:
$P_NCBFRAME[0] = ctrans(x,1,y,2,z,3,a,4,b,5,c,6)
$P_CHBFRAME[0] = ctrans(x,1,y,2,z,3,a,4,b,5,c,6)
$P_IFRAME = ctrans(x,1,y,2,z,3,a,4,b,5,c,6):crot(z,45)
$P_PFRAME = ctrans(x,1,y,2,z,3,a,4,b,5,c,6):crot(x,10,y,20,z,30)
TRAORI
TRAFOOF;
Axis Types, Coordinate Systems, Frames (K2)
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
; Geo axis (4,5,6) sets transformer
; $P_NCBFRAME[0] =
ctrans(x,4,y,5,z,6,cax,1,cay,2,caz,3)
; $P_ACTBFRAME =
ctrans(x,8,y,10,z,12,cax,2,cay,4,caz,6)
; $P_PFRAME = ctrans(x,4,y,5,z,6,cax,1,cay,2,caz,3):
; crot(x,10,y,20,z,30)
; $P_IFRAME =
ctrans(x,4,y,5,z,6,cax,1,cay,2,caz,3):crot(z,45)
; Geo axis (1,2,3) sets transformation deactivation
; $P_NCBFRAME[0] = ctrans(x,1,y,2,z,3,a,4,b,5,c,6)
; $P_CHBFRAME[0] = ctrans(x,1,y,2,z,3,a,4,b,5,c,6)
; $P_IFRAME =
ctrans(x,1,y,2,z,3,a,4,b,5,c,6):crot(z,45)
; $P_PFRAME =
ctrans(x,1,y,2,z,3,a,4,b,5,c,6):crot(x,10,y,20,z,30)
Examples
4.3 Frames
4-7