Nk_Off_Dir, $Nk_Axis, $Nk_A_Off (Parameterization For $Nk_Type = Rot_Const) - Siemens SINUMERIK 840D sl Function Manual

Example
The rotary axis zero point of the 9th kinematic elements is moved through 30.0° compared to
the modelled kinematics.
Program code
N100 $NK_A_OFF[8] = 30.0
5.2.3.8 $NK_OFF_DIR, $NK_AXIS, $NK_A_OFF (parameterization for $NK_TYPE =
ROT_CONST)
$NK_OFF_DIR
Function
The direction vector around which the constant rotation is performed should be entered in the
system variable. The output coordinate system is therefore calculated from the input coordinate
system, rotated through the angle specified in $NK_A_OFF around the direction vector
$NK_OFF_DIR.
Supplementary conditions:
● The direction vector must be specified as an absolute value, i.e. in relation to the world
coordinate system.
● The direction vector must be specified so that, in accordance with the "right-hand rule", the
thumb points in the direction of the vector when the rotary axis turns in the positive direction.
● The absolute value of the direction vector must be greater than 1*10
Syntax
$NK_OFF_DIR[<n>,<k>] = <value>
Meaning
$NK_OFF_DIR:
<n>:
<k>:
<value>:
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Direction vector (X; Y; Z)
Data type: REAL
Range of values: Direction vector: 1*10
Default value: (0.0, 0.0, 0.0)
System variable or element index
Data type: INT
Range of values: 0, 1, 2, ... ($MN_MM_MAXNUM_KIN_CHAIN_ELEM - 1)
Coordinate index
Data type: INT
Range of values: 0 → X; 1 → Y: 2 → Z
Coordinate value
Data type: REAL
Range of values: - max. REAL value ≤ x ≤ + max. REAL value
K7: Kinematic chain - only 840D sl
Comment
; 9. kin. element
; work offset = 30.0°
< |vector| ≤ max. REAL value
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5.2 Commissioning
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