Siemens SINUMERIK 840D sl Function Manual page 286

K9: Collision avoidance - only 840D sl
7.4 Example
Program code
; ----------------------------------------------------------
; kinematic element: X axis
; ----------------------------------------------------------
$NK_NAME[C_NKE]
$NK_NEXT[C_NKE]
$NK_PARALLEL[C_NKE]
$NK_TYPE[C_NKE]
;
$NK_OFF_DIR[C_NKE, 0] = 1.0
$NK_OFF_DIR[C_NKE, 1] = 0.0
$NK_OFF_DIR[C_NKE, 2] = 0.0
;
$NK_AXIS[C_NKE]
$NK_A_OFF[C_NKE]
;
C_NKE = C_NKE + 1
;
; ----------------------------------------------------------
; kinematic element: Y axis
; ----------------------------------------------------------
$NK_NAME[C_NKE]
$NK_NEXT[C_NKE]
$NK_PARALLEL[C_NKE]
$NK_TYPE[C_NKE]
;
$NK_OFF_DIR[C_NKE, 0] = 0.0
$NK_OFF_DIR[C_NKE, 1] = 1.0
$NK_OFF_DIR[C_NKE, 2] = 0.0
;
$NK_AXIS[C_NKE]
$NK_A_OFF[C_NKE]
;
C_NKE = C_NKE + 1
;
; ----------------------------------------------------------
; kinematic element: Z axis
; ----------------------------------------------------------
$NK_NAME[C_NKE]
$NK_NEXT[C_NKE]
$NK_PARALLEL[C_NKE]
$NK_TYPE[C_NKE]
;
$NK_OFF_DIR[C_NKE, 0] = 0.0
$NK_OFF_DIR[C_NKE, 1] = 0.0
$NK_OFF_DIR[C_NKE, 2] = 1.0
;
$NK_AXIS[C_NKE]
$NK_A_OFF[C_NKE]
;
C_NKE = C_NKE + 1
;
;
286
= "X axis"
= "Y axis"
= "Z axis"
= "AXIS_LIN"
; X
; Y
; Z
= "X1"
= 0.0
; next kinematic element
= "Y axis"
= ""
= ""
= "AXIS_LIN"
; X
; Y
; Z
= "Y1"
= 0.0
; next kinematic element
= "Z axis"
= ""
= ""
= "AXIS_LIN"
; X
; Y
; Z
= "Z1"
= 0.0
; next kinematic element
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions