Siemens SINUMERIK 840DE sl Function Manual page 257

Defining transformation
The description of the machine kinematics with kinematic chains is not sufficient to completely
specify a kinematic transformation. The transformations can be completely defined via system
variables with the $NT_... prefix. The system variables available for the transformation are
divided into the following parts:
● System variables that are relevant for all transformations.
● System variables that are only relevant for specific transformations.
You can find a complete list under System variables for general transformation types
(Page 278). Among other things, the following general system variables are available:
System variable
$NT_NAME
$NT_TRAFO_INDEX
$NT_TRAFO_TYPE
$NT_T_CHAIN_LAST_ELEM
$NT_P_CHAIN_LAST_ELEM
$NT_T_CHAIN_FIRST_ELEM
$NT_P_CHAIN_FIRST_ELEM
$NT_GEO_AX_NAME
$NT_ROT_AX_NAME
$NT_CLOSE_CHAIN_T
$NT_ROT_AX_OFFSET
$NT_CNTRL
An orientation transformation is defined, for example, via the elements displayed in the graphic.
Transformations
Function Manual, 06/2019, A5E47435470B AA
Description
Name of the transformation dataset.
Identifier for alternative transformation activation; a transformation defined with kinematic
chains can also be activated using the conventional language commands (e.g. TRAORI)
instead of the TRAFOON method.
Type of transformation (TRAORI_DYN, TRAORI_STAT, TRAANG_K, TRANSMIT_K,
TRACYL_K)
Name of the last element of the kinematic chain to the tool.
Name of the last element of the kinematic chain to the workpiece.
Name of the first element in the tool chain
Name of the first element of the workpiece chain
Names of the elements of the geometry axes. With $NT_GEO_AX_NAME, a maximum of
3 linear axes are referenced. The linear axes carry out the compensating movements
which result from the kinematic transformation.
Names of the elements of the orientation axes. With $NT_ROT_AX_NAME, a maximum of
3 linear axes are referenced.
Reference element for closing the kinematic chain to the workpiece.
Position offset of a/the rotary axis for the active transformation.
Control word
K12 transformation definitions with kinematic chains
4.1 Function description
257