Nt_Pole_Limit - Siemens SINUMERIK 840DE sl Function Manual

K12 transformation definitions with kinematic chains
4.2 Commissioning
Meaning
$NT_ROT_AX_POS:
<n>:
<k>:
<OriAxPos>:
Example
The positions of the orientation axes, which result from the parameterized constant rotation,
are: (0, 0, 45.0°)
Program code
N100 $NT_ROT_AX_POS[1,0] =
N110 $NT_ROT_AX_POS[1,1] =
N120 $NT_ROT_AX_POS[1,2] = 45.0
4.2.5.5

$NT_POLE_LIMIT

Function
The maximum permitted angle by which the C axis can deviate from its programmed position
during a large circle interpolation at the end of a block is entered in the system variable.
End angle
If a traversing movement is programmed that is not to pass exactly through the pole, but within
the area near to the pole defined by MD 24530 ($MC_TRAFO5_NON_POLE_LIMIT_n), the
movement will deviate from the specified path because the interpolation runs exactly through
the pole point. As a result, the position at the end point of the fourth axis (pole axis) deviates
from the programmed value.
A pole angle, which defines a tolerance circle about the pole, can be parameterized in the
306
Positions of the orientation axes due to the constant rotation
Data type: REAL
Default value: (0.0, 0.0, 0.0)
Range of val‐ - max. REAL value ≤ x ≤ + max. REAL value
ues:
System variable or transformation index
Data type: INT
Range of val‐ 1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)
ues:
Index of the orientation axes
Data type: INT
Range of val‐ 0: 1st orientation axis
ues:
1: 2nd orientation axis
2: 3rd orientation axis
Position value
Data type: REAL
Comment
; 1st transformation,
; positions of the orientation axes:
0 ; 1st orientation axis
0 ; 2nd orientation axis
; 3rd orientation axis
Function Manual, 06/2019, A5E47435470B AA
Transformations