Nk_Off_Dir, $Nk_Axis, $Nk_A_Off (Parameterization For $Nk_Type = Offset) - Siemens SINUMERIK 840D sl Function Manual

Meaning
$NK_A_OFF:
<n>:
<value>:
Example
The angle of rotation of the 9th kinematic element is 30.0°.
Program code
N100 $NK_A_OFF[8] = 30.0
5.2.3.9

$NK_OFF_DIR, $NK_AXIS, $NK_A_OFF (parameterization for $NK_TYPE = OFFSET)

$NK_OFF_DIR
Function
The offset vector by which the output coordinate system is moved compared to the input
coordinate system should be entered in the system variable.
The offset vector must be specified as an absolute value, i.e. in relation to the world coordinate
system.
Syntax
$NK_OFF_DIR[<n>,<k>] = <value>
Meaning
$NK_OFF_DIR:
<n>:
<k>:
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Angle of rotation
Data type: REAL
Range of values: - max. REAL value ≤ x ≤ + max. REAL value
Default value: 0.0
System variable or element index
Data type: INT
Range of values: 0, 1, 2, ... ($MN_MM_MAXNUM_KIN_CHAIN_ELEM - 1)
Angle
Data type: REAL
Range of values: - max. REAL value ≤ x ≤ + max. REAL value
Offset vector (X; Y; Z)
Data type: REAL
Range of values: Offset vector: 0 ≤ x ≤ (± max. REAL value)
Default value: (0.0, 0.0, 0.0)
System variable or element index
Data type: INT
Range of values: 0, 1, 2, ... ($MN_MM_MAXNUM_KIN_CHAIN_ELEM - 1)
Coordinate index
Data type: INT
Range of values: 0 → X; 1 → Y: 2 → Z
K7: Kinematic chain - only 840D sl
Comment
; 9. kin. element
; angle of rotation = 30.0°
5.2 Commissioning
203