Siemens SINUMERIK 840D sl Function Manual page 199

Example
The rotary axis of the 9th element rotates around the direction vector. The direction vector is
the unit vector (1; 0; 0), rotated through α=90° in the X/Y plane and β=10° in the Y/Z plane, in
relation to the world coordinate system. The following values result from this for the individual
components of the direction vector:
● X component = cos(α) * cos(β) = cos(90) * cos(10) = 0.0
● Y component = sin(α) * cos(β) = sin(90) * cos(10) ≈ 0.985
● Z component = sin(β) = sin(10) ≈ 0.174
Figure 5-5
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 rotated
through 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.
The machine axis type must correspond to the type entered in $NK_TYPE:
In accordance with the AXIS_ROT type entered in $NK_TYPE, the machine axis must be a
rotary axis:
MD30300 $MA_IS_ROT_AX = 1
Syntax
$NK_AXIS[<n>] = <name>
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Direction vector, general
K7: Kinematic chain - only 840D sl
5.2 Commissioning
Comment
; 0 = X component
; 1 = Y component
; 2 = Z component
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