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

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K7: Kinematic chain - only 840D sl

5.2 Commissioning

$NK_OFF_DIR, $NK_AXIS, $NK_A_OFF (parameterization for $NK_TYPE = AXIS_ROT)

The direction vector around which the rotary axis $NK_AXIS assigned to the element rotates,

should be entered in the system variable. The output coordinate system is therefore calculated

from the input coordinate system, rotated by the current position value of the rotary axis and

the offset 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

If the assigned machine axis is a spindle, its position is taken into account in different ways

specific to the function:

● Collision avoidance: Indeterminate position

● Kinematic transformation: depending on the setting in $NT_CNTRL, bit 1-3

– Bit x == 0 → indeterminate position

– Bit x == 1 → current position value + $NK_A_OFF,

$NK_OFF_DIR[<n>,<k>] = <value>

$NK_OFF_DIR:

Direction vector (X; Y; Z)

Range of values: Direction vector: 1*10

Default value:

(0.0, 0.0, 0.0)

System variable or element index

Range of values: 0, 1, 2, ... ($MN_MM_MAXNUM_KIN_CHAIN_ELEM - 1)

Coordinate index

Range of values: 0 → X; 1 → Y: 2 → Z

Coordinate value

Range of values: - max. REAL value ≤ x ≤ + max. REAL value

< |vector| ≤ max. REAL value

Function Manual, 01/2015, 6FC5397-2BP40-5BA2

Special functions

Sinumerik 828d Sinumerik 840de sl