Additive System Variable For Orientation Transformation; Overview; Nt_Base_Orient - Siemens SINUMERIK 840DE sl Function Manual

4.2.5

Additive system variable for orientation transformation

4.2.5.1

Overview

System variable

$NT_BASE_ORIENT

$NT_BASE_ORIENT_NORMAL
$NT_ROT_AX_POS
$NT_POLE_LIMIT
$NT_POLE_TOL
$NT_IGNORE_TOOL_ORIENT
$NT_CORR_ELEM_T
$NT_CORR_ELEM_P
The system variables are described in detail in the following sections.
Note
Element names
The system does not monitor as to whether the element names of the kinematic chain, which
are referenced to parameterize transformation, were allocated a multiple number of times. If
names such as these are available a multiple number of times, then the system data of the
transformation always refer to the corresponding element with the lowest index.
Establish a defined initial state
It is recommended that a defined initial state be generated before parameterizing the kinematic
chain. To do this, the system variables of the kinematic chain should be set to their default value
using function DELOBJ().
Change system variable values
Changes to system variable values of the transformation data $NT_... only become effective
when the NEWCONF machine data becomes effective. This can be done using the softkey on
the user interface in the operating area "Commissioning" > "Machine data " > "Set MD active",
in a program using the NEWCONF command or using a program end reset, channel reset or a
warm or cold restart.
4.2.5.2 $NT_BASE_ORIENT
Function
The rotation vector of the basic tool orientation must be entered in the system variable. The
basic tool orientation is in effect if no tool is selected.
Transformations
Function Manual, 06/2019, A5E47435470B AA
K12 transformation definitions with kinematic chains
Meaning
Basic tool orientation
Normal vector of the orientation
Axis positions of the orientation axes, which are parameterized as
constant rotations
End angle tolerance with interpolation through pole
End angle tolerance for pole interpolation
Always take tool orientation from $NT_BASE_ORIENT /
$NT_BASE_ORIENT_NORMAL.
Names of the correction elements in the tool chain that can be
written to by the CORRTRAFO(...) function.
Names of the correction elements in the subchain that can be writ‐
ten to by the CORRTRAFO(...) function.
4.2 Commissioning
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