Siemens SINUMERIK 840DE sl Function Manual page 336

K12 transformation definitions with kinematic chains
4.4 Examples
Program code
;===========================================================
; Simple example of TRACYL with kinematic chain:
;******************************************************
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; Definition of the kinematic transformation:
;******************************************************
; 1. TRACYL 512
;******************************************************
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; 2nd TRACYL 513
;******************************************************
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336
$NK_NAME[_KIE_CNTR]
$NK_TYPE[_KIE_CNTR]
$NK_NEXT[_KIE_CNTR]
$NK_PARALLEL[_KIE_CNTR]
_KIE_CNTR = _KIE_CNTR + 1
$NK_NAME[_KIE_CNTR]
$NK_TYPE[_KIE_CNTR]
$NK_NEXT[_KIE_CNTR]
$NK_AXIS[_KIE_CNTR]
$NK_OFF_DIR[_KIE_CNTR,2]
_KIE_CNTR = _KIE_CNTR + 1
$NK_NAME[_KIE_CNTR]
$NK_TYPE[_KIE_CNTR]
$NK_NEXT[_KIE_CNTR]
$NK_AXIS[_KIE_CNTR]
$NK_OFF_DIR[_KIE_CNTR,0]
_KIE_CNTR = _KIE_CNTR + 1
$NK_NAME[_KIE_CNTR]
$NK_TYPE[_KIE_CNTR]
$NK_NEXT[_KIE_CNTR]
$NK_AXIS[_KIE_CNTR]
$NK_OFF_DIR[_KIE_CNTR,1]
_KIE_CNTR = _KIE_CNTR + 1
$NK_NAME[_KIE_CNTR]
$NK_TYPE[_KIE_CNTR]
$NK_NEXT[_KIE_CNTR]
$NK_AXIS[_KIE_CNTR]
$NK_OFF_DIR[_KIE_CNTR,2]
$NT_NAME[_TRA_CNTR]
$NT_TRAFO_TYPE[_TRA_CNTR]
$NT_T_CHAIN_LAST_ELEM[_TRA_CNTR]
$NT_P_CHAIN_LAST_ELEM[_TRA_CNTR]
$NT_GEO_AX_NAME[_TRA_CNTR,0]
$NT_GEO_AX_NAME[_TRA_CNTR,1]
$NT_GEO_AX_NAME[_TRA_CNTR,2]
$NT_ROT_AX_NAME[_TRA_CNTR,0]
$NT_ROT_AX_NAME[_TRA_CNTR,1]
$NT_ROT_AX_NAME[_TRA_CNTR,2]
$NT_ROT_OFFSET_FROM_FRAME[_TRA_CNTR] = 1
$NT_CNTRL[_TRA_CNTR]
_TRA_CNTR = _TRA_CNTR + 1
$NT_NAME[_TRA_CNTR]
$NT_TRAFO_TYPE[_TRA_CNTR]
$NT_T_CHAIN_LAST_ELEM[_TRA_CNTR]
= "ROOT"
= "OFFSET"
= "Z-Axis"
= "C-Axis"
= "Z-Axis"
= "AXIS_LIN"
= "X-Axis"
= "Z1"
= 1.0
= "X-Axis"
= "AXIS_LIN"
= "Y-Axis"
= "X1"
= 1.0
= "Y-Axis"
= "AXIS_LIN"
= ""
= "Y1"
= 1.0
= "C-Axis"
= "AXIS_ROT"
= ""
= "C1"
= -1.0
= "Trafo Tracyl 512"
= "TRACYL_K"
= "X-Axis"
= "C-Axis"
= "X-Axis"
= ""
= "Z-Axis"
= ""
= "C-Axis"
= ""
= 'H0'
= "Trafo Tracyl 513"
= "TRACYL_K"
= "Y-Axis"
Function Manual, 06/2019, A5E47435470B AA
Transformations