Siemens SINUMERIK 840D sl Function Manual page 204

K7: Kinematic chain - only 840D sl
5.2 Commissioning
<value>:
Example
The output coordinate system of the 9th element arises from the input coordinate system,
offset by the offset vector with the following coordinates related to the world coordinate system:
● X component = 10.0
● Y component = 20.0
● Z component = 30.0
Figure 5-7
Program code
; 9th kinematic element
N100 $NK_OFF_DIR[8,0] = 10.0
N110 $NK_OFF_DIR[8,1] = 20.0
N120 $NK_OFF_DIR[8,2] = 30.0
$NK_AXIS
Function
The system variable is not evaluated for the element type $NK_TYPE = OFFSET (constant
offset).
$NK_A_OFF
Function
The system variable is not evaluated for the element type $NK_TYPE = OFFSET (constant
offset).
204
Coordinate value
Data type:
Range of values: - max. REAL value ≤ x ≤ + max. REAL value
Offset vector
REAL
Comment
; 0 = X component
; 1 = Y component
; 2 = Z component
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions