Siemens SINUMERIK 840DE sl Function Manual page 326

K12 transformation definitions with kinematic chains
4.4 Examples
Transformation with a kinematic chain
Two kinematic chains are defined for the description:
● One kinematic chain points to the workpiece reference point (workpiece coordinate system).
● The second kinematic chain points to the tool reference point.
● The transformation type is "TRAORI_DYN".
Figure 4-8
The kinematics is created in several steps:
● The two root elements of the kinematic chain are defined:
– $NK_NEXT\[KIE_CNTR] = "X axis"; chain points to the tool reference point.
– $NK_PARALLEL\[KIE_CNTR] = "Table offset"; chain points to the workpiece
● The three mutually perpendicular linear axes X, Y and Z are defined starting from the zero
point of the world coordinate system.
– In the rotation vectors $NK_OFF_DIR, which define the axis directions, only the
326
Example kinematics for dynamic orientation transformation
reference point.
individual component that is not equal to zero is described. All of the linear axes have
their origin in the same point, because no constant elements are defined between the
individual axes and no zero point offsets have been specified for the axes either.
Function Manual, 06/2019, A5E47435470B AA
Transformations