Siemens SINUMERIK 840DE sl Function Manual page 300

K12 transformation definitions with kinematic chains
4.2 Commissioning
Bit
11
12 ... 15
16 ... 18
19
20
Syntax
$NT_CNTRL[<n>] = "<Value>"
Meaning
$NT_CNTRL:
<n>:
<Value>:
300
Value Meaning
0 The direction of rotation of the pole axis remains unchanged.
1 The direction of rotation of the pole axis is inverted.
Reserved for OEM transformations.
Binary coding using bits 16, 17 and 18 (bits H10000 - H40000) defines how the
channel axes, which are entered in $NT_GEO_AX_NAME [n,1],
$NT_GEO_AX_NAME [n,2] and $NT_GEO_AX_NAME [n,3], are assigned to the
geometry axes. The geometry axis identifiers are assigned in the order (X, Y, Z).
Decimal
0 X
1 Z
2 Y
3 Z
4 X
5 Y
0
1 The last kinematic chain element, which defines the tool reference point, must be
a rotary axis. The rotation vector of the rotary axis then defines the Z direction of
the tool coordinate system. The rotation about the tool Z axis that is defined in this
way results from the corresponding definition for the local coordinate system of an
axis in kinematic chains.
If the system variable $NK_A_OFF of this chain element contains a value not equal
to zero, the tool coordinate system is also rotated about the coordinate axis with
this angle.
0 The sign of the axis for determining the tool coordinate system in the Z direction is
retained.
1 The sign of the axis for determining the tool coordinate system in the Z direction is
inverted if also bit 19 is set.
Bit-coded control variable of the transformation ('Bdcbbbaaa0')
Data type:
Default value:
System variable or transformation index
Data type:
Value range:
Bit-coded control value
Data type:
Order of the geometry axes
Y
X
Z
Y
Z
X
INT
0
INT
1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)
INT
Function Manual, 06/2019, A5E47435470B AA
Z
Y
X
X
Y
Z
Transformations