Nt_Rot_Ax_Pos - Siemens SINUMERIK 840DE sl Function Manual

Syntax
$NT_BASE_ORIENT_NORMAL[<n>,<k>] = <VectorComp>
$NT_BASE_ORIENT_NORMA
L:
<n>:
<k>:
<VectorComp>:
Example
The normal vector of the basic tool orientation of the first transformation has the value (2.0, -1.0,
3.0):
Program code
N100 $NT_BASE_ORIENT_NORMAL[1,0] =
N110 $NT_BASE_ORIENT_NORMAL[1,1] = -1.0
N120 $NT_BASE_ORIENT_NORMAL[1,2] =
4.2.5.4

$NT_ROT_AX_POS

Function
The positions of the orientation axes, which result from the constant rotations which are
parameterized in elements of the kinematic chain of the type ROT_CONST, must be entered
in the system variable. The positions of the orientation axes that are effective due to this
element can thus be described without having to know the kinematic structure of the
transformation or the indices of the associated kinematic elements.
Syntax
$NT_ROT_AX_POS[<n>,<k>] = <OriAxPos>
Transformations
Function Manual, 06/2019, A5E47435470B AA
K12 transformation definitions with kinematic chains
Normal vector of the basic tool orientation (X; Y; Z)
Data type: REAL
Default value: (0.0, 1.0, 0.0)
Value range: Normal vector: 1*10
System variable or transformation index
Data type: INT
Value range: 1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)
Index of the coordinates
Data type: INT
Range of val‐ 0: X coordinate (abscissa)
ues:
1: Y coordinate (ordinate)
2: Z coordinate (applicate)
Coordinate value of the vector component
Data type: STRING
Comment
; 1st transformation,
; vector components:
2.0 ; X coordinate (abscissa)
; Y coordinate (ordinate)
3.0 ; Z coordinate (applicate)
4.2 Commissioning
< |Vector | ≤ max. REAL value
-6
305