Siemens SINUMERIK 840D sl Function Manual page 196

K7: Kinematic chain - only 840D sl
5.2 Commissioning
Figure 5-4
Program code
; 9th kinematic element
N100 $NK_OFF_DIR[8,0] = COS(90)*COS(10)
N110 $NK_OFF_DIR[8,1] = SIN(90)*COS(10)
N120 $NK_OFF_DIR[8,2] = SIN(10)
$NK_AXIS
Function
The name of the machine axis (MD10000 $MN_AXCONF_MACHAX_NAME_TAB) that is to
be assigned to the element should be entered in the system variable.
The output coordinate system of the element results from the input coordinate system offset
by the current position setpoint of the machine axis in the MCS and the offset specified in
$NK_A_OFF. The position setpoint of the machine axis contains all the active work offsets and
corrections.
In accordance with the AXIS_LIN type entered in $NK_TYPE, the machine axis must be a
linear axis:
MD30300 $MA_IS_ROT_AX = 0
Syntax
$NK_AXIS[<n>] = <name>
Meaning
$NK_AXIS:
<n>:
<value>:
196
Direction vector, general
Machine axis name
Data type:
Range of values: Machine axis name
Default value:
System variable or element index
Data type:
Range of values: 0, 1, 2, ... ($MN_MM_MAXNUM_KIN_CHAIN_ELEM - 1)
Machine axis name
Data type:
Range of values: Machine axis names
Comment
; 0 = X component
; 1 = Y component
; 2 = Z component
STRING
"" "" (empty string)
INT
STRING
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions