Definition Of Kinematic Transformations - Siemens SINUMERIK 840DE sl Function Manual

K12 transformation definitions with kinematic chains
4.1 Function description
Definition of the kinematic transformation
The definition of kinematic transformations via kinematic chains is used to standardize the
definition of the previous transformation types.
The following transformations are taken into consideration:
● TRAORI
– TRAORI_DYN; dynamic orientation transformation
– TRAORI_STAT; static orientation transformation
● TRANSMIT_K; face side transformation
● TRACYL_K; peripheral surface transformation
● TRAANG_K; oblique angle transformation
4.1.2

Definition of kinematic transformations

Transformations with kinematic chains are defined in two steps:
● Definition of the machine kinematics
● Definition of the transformation
Defining machine kinematics
The machine kinematics (geometry of the machine) is described via kinematic chains. For
detailed information, see Function Manual "Basic Functions", Section "Kinematic chains".
The relevant system variables are described in the Function Manual "Basic Functions", Section
"Kinematic chains". These system variables are structured according to the scheme $NK_...
Important system variables include:
System variable
$NK_NAME
$NK_NEXT
$NK_PARALLEL
$NK_TYPE
$NK_OFF_DIR
$NK_AXIS
$NK_A_OFF
256
Name of the current element
Name of the next element
Defines a parallel kinematic chain. As a result, the second chain can be defined parallel to
the first chain.
Defines the type of the element, e.g. AXIS_LIN, AXIS_ROT, OFFSET, ROT_CONST,
SWITCH
Defines the rotation vector relative to the machine axis
Name of the machine axis
Defines the work offset of the assigned machine axis.
Function Manual, 06/2019, A5E47435470B AA
Transformations