Siemens SINUMERIK 840DE sl Function Manual page 330

K12 transformation definitions with kinematic chains
4.4 Examples
Program code
N320 $NK_TYPE[KIE_CNTR]
N330 $NK_NEXT[KIE_CNTR]
N340 $NK_OFF_DIR[KIE_CNTR,0]
N350 $NK_OFF_DIR[KIE_CNTR,2]
N360 KIE_CNTR = KIE_CNTR + 1
;===========================================================
; definition of the C axis in the Z direction - refers to axis C1
;===========================================================
N370 $NK_NAME[KIE_CNTR]
N380 $NK_TYPE[KIE_CNTR]
N390 $NK_NEXT[KIE_CNTR]
N400 $NK_AXIS[KIE_CNTR]
N410 $NK_OFF_DIR[KIE_CNTR,2]
N420 KIE_CNTR = KIE_CNTR + 1
;===========================================================
; definition of the B axis with an offset between the B and C axes
;===========================================================
N430 $NK_NAME[KIE_CNTR]
N440 $NK_TYPE[KIE_CNTR]
N450 $NK_NEXT[KIE_CNTR]
N460 $NK_OFF_DIR[KIE_CNTR,2]
N470 KIE_CNTR = KIE_CNTR + 1
N480 $NK_NAME[KIE_CNTR]
N490 $NK_TYPE[KIE_CNTR]
N500 $NK_NEXT[KIE_CNTR]
N510 $NK_AXIS[KIE_CNTR]
N520 $NK_OFF_DIR[KIE_CNTR,0]
N530 KIE_CNTR = KIE_CNTR + 1
;===========================================================
; conclusion of the kinematic chain with an offset
;===========================================================
N540 $NK_NAME[KIE_CNTR]
N550 $NK_TYPE[KIE_CNTR]
N560 $NK_NEXT[KIE_CNTR]
N570 $NK_OFF_DIR[KIE_CNTR,2]
;===========================================================
; definition of the kinematic chain to the table reference point
;===========================================================
N580 KIE_CNTR = KIE_CNTR + 1
N590 $NK_NAME[KIE_CNTR]
N600 $NK_TYPE[KIE_CNTR]
N610 $NK_OFF_DIR[KIE_CNTR,0] = 200.0
N620 $NK_OFF_DIR[KIE_CNTR,2]
N630 KIE_CNTR = KIE_CNTR + 1
;===========================================================
; Definition of the transformation (TRAORI)
;===========================================================
N640 $NT_NAME[1]
N650 $NT_T_CHAIN_LAST_ELEM[1] = "base tool"
N660 $NT_P_CHAIN_LAST_ELEM[1] = "Table offset"
N670 $NT_TRAFO_TYPE[1]
;===========================================================
; Definition of the orientation and geometry axes
;===========================================================
330
= "OFFSET"
= "C axis"
= 200.0
= 300.0
= "C axis"
= "AXIS_ROT"
= "B axis offset"
= "C1"
= 1.0
= "B axis offset"
= "OFFSET"
= "B axis"
= -150.0
= "B axis"
= "AXIS_ROT"
= "Base tool"
= "B1"
= 1.0
= "Base tool"
= "OFFSET"
= ""
= -50.0
= "Table offset"
= "OFFSET"
= 100.0
= "5-axis transformation C-B"
= "TRAORI_DYN"
Function Manual, 06/2019, A5E47435470B AA
Transformations