Siemens SINUMERIK 840D sl Function Manual page 202

K7: Kinematic chain - only 840D sl
5.2 Commissioning
Example
The output coordinate system of the 9th Elements therefore arises from the input coordinate
system, rotated through the angle specified in $NK_A_OFF 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 5-6
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 system variable is not evaluated for the element type $NK_TYPE = ROT_CONST
(constant rotation).
$NK_A_OFF
Function
The angle through which the output coordinate system is rotated compared with the input
coordinate system around the direction vector $NK_OFF_DIR should be entered in the system
variable.
Syntax
$NK_A_OFF[<n>] = <value>
202
Direction vector, general
Comment
; 0 = X component
; 1 = Y component
; 2 = Z component
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions