Nk_Type - Siemens SINUMERIK 840D sl Function Manual

K7: Kinematic chain - only 840D sl
5.2 Commissioning
5.2.3.5

$NK_TYPE

Function
The element type should be entered in the system variable:
Type
AXIS_LIN
AXIS_ROT
ROT_CONST
OFFSET
Syntax
$NK_TYPE[<n>] = "<Type>"
Meaning
$NK_TYPE:
<n>:
<Type>:
Example
The 9th kinematic element is a rotary axis:
Program code
N100 $NK_TYPE[8] = "AXIS_ROT"
194
Description
The element describes a linear machine axis (linear axis) with the direction vector
$NK_OFF_DIR (Page 195) and the work offset $NK_A_OFF (Page 195).
The element describes a rotary machine axis (rotary axis) with the direction vector
$NK_OFF_DIR (Page 198) and the work offset $NK_A_OFF (Page 198) or a spindle.
Note
Positions of spindles are considered differently depending on the function used by
the kinematic chain:
● Collision avoidance: Indeterminate position
● Kinematic transformation: Depending on the setting in $NT_CNTRL, bit 1-3, the
position corresponding to $NK_A_OFF (Page 198) or the speed setpoint is taken
into consideration
The element describes a constant rotation around the direction vector
$NK_OFF_DIR (Page 201) and the angle $NK_A_OFF (Page 201).
The element describes a constant linear offset with the offset vector $NK_OFF_DIR
(Page 203).
Type of the element
Data type: STRING
Default value: "" (empty string)
System variable or element index
Data type: INT
Range of values: 0, 1, 2, ... ($MN_MM_MAXNUM_KIN_CHAIN_ELEM - 1)
Element name, max. string length: 31 characters
Data type: STRING
Range of values: "AXIS_LIN", "AXIS_ROT", "ROT_CONST", "OFFSET"
Comment
; 9. kin. Element
; type = rotary axis
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions