Siemens SINUMERIK 840DE sl Function Manual page 13

4.2.1.2 Structure of the system variables.........................................................................................274
4.2.2 Machine data........................................................................................................................276
4.2.2.1 Maximum number of transformations with kinematic chains................................................276
4.2.2.2 Name of the reset transformation.........................................................................................276
4.2.2.3 Activation limit of the real-time dynamic monitoring (linear axes) ........................................276
4.2.2.4 Activation limit of real-time dynamic monitoring (rotary axes)..............................................276
4.2.2.5 Correction value for offset vectors for CORRTRAFO ..........................................................276
4.2.2.6 Angular deviation for rotation vectors for CORRTRAFO......................................................276
4.2.3 Use of system variables for kinematic transformations........................................................277
4.2.4 System variables for general transformation types ..............................................................278
4.2.4.1 Overview ..............................................................................................................................278
4.2.4.2 $NT_NAME ..........................................................................................................................279
4.2.4.3 $NT_TRAFO_INDEX............................................................................................................280
4.2.4.4 $NT_TRAFO_TYPE .............................................................................................................281
4.2.4.5 $NT_T_CHAIN_FIRST_ELEM..............................................................................................282
4.2.4.6 $NT_P_CHAIN_FIRST_ELEM .............................................................................................284
4.2.4.7 $NT_T_CHAIN_LAST_ELEM ...............................................................................................285
4.2.4.8 $NT_P_CHAIN_LAST_ELEM...............................................................................................286
4.2.4.9 $NT_T_REF_ELEM..............................................................................................................287
4.2.4.10 $NT_GEO_AX_NAME..........................................................................................................288
4.2.4.11 $NT_ROT_AX_NAME ..........................................................................................................289
4.2.4.12 $NT_ROT_AX_OFFSET ......................................................................................................291
4.2.4.13 $NT_CLOSE_CHAIN_P .......................................................................................................292
4.2.4.14 $NT_CLOSE_CHAIN_T .......................................................................................................293
4.2.4.15 $NT_ROT_OFFSET_FROM_FRAME ..................................................................................294
4.2.4.16 $NT_TRAFO_INCLUDES_TOOL.........................................................................................295
4.2.4.17 $NT_AUX_POS....................................................................................................................296
4.2.4.18 $NT_IDENT..........................................................................................................................297
4.2.4.19 $NT_CNTRL.........................................................................................................................298
4.2.4.20 $NT_ROT_AX_CNT .............................................................................................................301
4.2.4.21 $NT_BASE_TOOL_COMP...................................................................................................302
4.2.5 Additive system variable for orientation transformation .......................................................303
4.2.5.1 Overview ..............................................................................................................................303
4.2.5.2 $NT_BASE_ORIENT............................................................................................................303
4.2.5.3 $NT_BASE_ORIENT_NORMAL ..........................................................................................304
4.2.5.4 $NT_ROT_AX_POS .............................................................................................................305
4.2.5.5 $NT_POLE_LIMIT ................................................................................................................306
4.2.5.6 $NT_POLE_LIMIT ................................................................................................................308
4.2.5.7 $NT_POLE_TOL ..................................................................................................................310
4.2.5.8 $NT_IGNORE_TOOL_ORIENT ...........................................................................................311
4.2.5.9 $NT_CORR_ELEM_T ..........................................................................................................312
4.2.5.10 $NT_CORR_ELEM_P ..........................................................................................................313
4.2.6 Additive system variable for face transformation (TRANSMIT)............................................314
4.2.6.1 Overview ..............................................................................................................................314
4.2.6.2 $NT_POLE_SIDE_FIX .........................................................................................................315
4.2.7 Additive system variables for transformation chains (TRACON_K) .....................................316
4.2.7.1 $NT_TRACON_CHAIN ........................................................................................................316
4.3 Programming........................................................................................................................317
4.3.1 Activating a transformation (TRAFOON)..............................................................................317
4.3.2 Modifying the orientation transformation after the machine measurement
(CORRTRAFO) ....................................................................................................................318
Transformations
Function Manual, 06/2019, A5E47435470B AA
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