Nt_Rot_Offset_From_Frame - Siemens SINUMERIK 840DE sl Function Manual

K12 transformation definitions with kinematic chains
4.2 Commissioning
4.2.4.15

$NT_ROT_OFFSET_FROM_FRAME

Function
In the system variable $NT_ROT_OFFSET_FROM_FRAME it must be entered whether the
programmable offset for orientation axes will be automatically imported from the zero point
offset for the orientation axes, which becomes active upon switch-on of an orientation
transformation.
● TRAORI or TRAORY_DYN:
– If $NT_ROT_OFFSET_FROM_FRAME=1 the following applies:
– If $NT_ROT_OFFSET_FROM_FRAME=0, then the following applies:
● TRACYL and/or TRANSMIT
– If $NT_ROT_OFFSET_FROM_FRAME=2, the following applies:
Note
Automatic application of work offsets
Automatic application of the active work offsets to the offset is mainly only practical for the polar
axis in table kinematics. i.e. for example, in AC kinematics for the C axis. If the offset is changed
for another orientation axis, in particular, the non-polar axis, this changes the kinematic
behavior of the transformation. The can result in the compensatory movement of the linear axes
no longer being correct.
Syntax
$NT_ROT_OFFSET_FROM_FRAME[<n>] = "<ROTOffset>"
Meaning
$NT_ROT_OFFSET_FROM_FRAME:
294
The offsets for the orientation axes of the 5/6 axis transformation of the rotary axes, for
which the tool orientation is in the basic setting, are automatically defined. Thus, the
offset from an active work offset of the rotary axes, which is active as soon as the
transformation is switched on, is applied.
The offset of the orientation axes is only applied if the work offsets when switching on the
transformation are kept, i.e. MD10602 $MN_FRAME_GEOAX_CHANGE_MODE is > 0.
Axial offset of the rotary axis is taken into account up to the SZS. SZS is the settable zero
system. The SZS frames contain transformed rotations around the rotary axis.
Importing the rotary axis offset from the work offset upon se‐
lection of the transformation:
● 0 = Axial offset of the rotary axis is not taken into account.
● 1 = axial offset of the rotary axis is taken into account.
● 2 = Axial offset of the rotary axis is taken into account up to
the SZS or is automatically applied (see above).
Data type:
Default value:
Function Manual, 06/2019, A5E47435470B AA
INT
0
Transformations