Part Program For Traang - Siemens SINUMERIK 840DE sl Function Manual

K12 transformation definitions with kinematic chains
4.4 Examples
4.4.5

Part program for TRAANG

Example program "TRAANG"
Program code
;===========================================================
; Simple example of TRAANG with kinematic chain
;******************************************************
N2000
N2010
N2020
N2030
N2040
N2050
N2060
N2070
N2080
N2090
N2100
N2110
N2120
N2130
N2140
N2150
N2160
N2170
N2180
N2190
N2200
N2210
N2220
N2230
; definition of the kinematic transformation:
;******************************************************
; TRRANG
;******************************************************
N2240
N2250
N2260
N2270
N2280
N2290
N2300
N2310
N2320
;******************************************************
; Activate kinematic chain and transformation:
;******************************************************
N2330
N2340
;*************************************************************************
*************************
338
$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,0]
$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,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,1]
_KIE_CNTR = _KIE_CNTR + 1
$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,2]
$NT_GEO_AX_NAME[_TRA_CNTR,1]
$NT_ROT_OFFSET_FROM_FRAME[_TRA_CNTR] = 1
_TRA_CNTR = _TRA_CNTR + 1
NEWCONF
STOPRE
= "ROOT"
= "OFFSET"
= "X-Axis"
= ""
= "X-Axis"
= "AXIS_LIN"
= "Z-Axis"
= "X1"
= COS(20)
= SIN(20)
= "Z-Axis"
= "AXIS_LIN"
= "Y-Axis"
= "Z1"
= 1.0
= "Y-Axis"
= "AXIS_LIN"
= ""
= "Y1"
= 1.0
= "Trafo Traang"
= "TRAANG_K"
= "Y-Axis"
= ""
= "X-Axis"
= "Y-Axis
= "Z-Axis"
Function Manual, 06/2019, A5E47435470B AA
Transformations