Nt_T_Chain_First_Elem - Siemens SINUMERIK 840DE sl Function Manual

K12 transformation definitions with kinematic chains
4.2 Commissioning
Meaning
$NT_TRAFO_TYPE:
<n>:
<TrafoType>:
Example
The first transformation with kinematic chains describes a dynamic orientation transformation
with orientation axes:
Program code
N100 $NT_TRAFO_TYPE[1] =
"TRAORI_DYN"
4.2.4.5

$NT_T_CHAIN_FIRST_ELEM

Function
The kinematics of a transformation is described by a maximum of two kinematic subchains,
which begin in the respective root element, i.e. the first element of the kinematic chain that is
in effect. One subchain leads from the root element to the workpiece reference point
(see Definition of kinematic transformations (Page 256)). The other subchain leads to the tool
reference point. If the subchain does not start, as is usual, in the root element, the first element
of the active kinematic subchain can be defined for the tool chain and for the workpiece chain
using the system variables
282
Transformation type
Data type: STRING
Default value: ""
Value range: Value
"TRAORI_DYN"
"TRAORI_STAT" Static orientation transformation with‐
"TRAANG"
"TRAANG_K"
"TRANSMIT_K"
"TRACON_K"
System variable or transformation index
Data type: INT
Range of val‐ 1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)
ues:
Transformation type
Data type: STRING
Meaning
Dynamic orientation transformation
with orientation axes
out orientation axes
Inclined angle transformation without
orientation axes
Oblique angle transformation
(The extension "_K" distinguishes it
from a conventionally defined
TRAANG transformation)
Face end transformation TRANSMIT
Concatenating transformations
Comment
; 1st transformation,
; transformation type = "TRAORI_DYN"
Function Manual, 06/2019, A5E47435470B AA
Transformations