Nt_Base_Orient_Normal - Siemens SINUMERIK 840DE sl Function Manual

K12 transformation definitions with kinematic chains
4.2 Commissioning
Syntax
$NT_BASE_ORIENT[<n>,<k>] = <VectorComp>
Meaning
$NT_BASE_ORIENT:
<n>:
<k>:
<VectorComp>:
Example
The rotation vector of the basic tool orientation of the first transformation has the value (1.0, 2.0,
3.0):
Program code
N100 $NT_BASE_ORIENT[1,0] = 1.0
N110 $NT_BASE_ORIENT[1,1] = 2.0
N120 $NT_BASE_ORIENT[1,2] = 3.0
4.2.5.3

$NT_BASE_ORIENT_NORMAL

Function
The normal vector of the basic tool orientation must be entered in the system variable. The
system variable or the normal vector of the basic tool orientation is only relevant for
transformations with three degrees of orientation freedom if no tool is selected.
304
Rotation vector of the basic tool orientation (X; Y; Z)
Data type: REAL
Default value: (0.0, 0.0, 1.0)
Value range: Direction vector: 1*10
System variable or transformation index
Data type: INT
Value range: 1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)
Index of the coordinates
Data type: INT
Range of val‐ 0: X coordinate (abscissa)
ues:
1: Y coordinate (ordinate)
2: Z coordinate (applicate)
Coordinate value of the vector component
Data type: STRING
Comment
; 1st transformation,
; vector components:
; X coordinate (abscissa)
; Y coordinate (ordinate)
; Z coordinate (applicate)
< |Vector | ≤ max. REAL value
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Function Manual, 06/2019, A5E47435470B AA
Transformations