Siemens SINUMERIK 828D Funktionshandbuch Seite 139

Programmcode
;===========================================================
; Einfaches Beispiel für TRAANG mit kinematischer Kette
;******************************************************
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N2130
N2140
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N2180
N2190
N2200
N2210
N2220
N2230
; Definition der kinematischen Transformation:
;******************************************************
; TRRANG
;******************************************************
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"N2290
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;******************************************************
; Aktivieren der kinematischen Kette und
;******************************************************
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;**********************************************************
;========================= ENDE ===========================
Transformationen
Funktionshandbuch, 01/2023, A5E48764313A AE
5.3 Schiefwinkeltransformation (Schräge Achse) TRAANG_K (Option)
$NK_NAME[_KIE_CNTR]
$NK_TYPE[_KIE_CNTR]
$NK_NEXT[_KIE_CNTR]
$NK_PARALLEL[_KIE_CNTR]
_KIE_CNTR = _KIE_CNTR + 1
$NK_NAME[_KIE_CNTR]
$NK_TYPE[_KIE_CNTR]
$NK_NEXT[_KIE_CNTR]
$NK_AXIS[_KIE_CNTR]
$NK_OFF_DIR[_KIE_CNTR,0]
$NK_OFF_DIR[_KIE_CNTR,2]
_KIE_CNTR = _KIE_CNTR + 1
$NK_NAME[_KIE_CNTR]
$NK_TYPE[_KIE_CNTR]
$NK_NEXT[_KIE_CNTR]
$NK_AXIS[_KIE_CNTR]
$NK_OFF_DIR[_KIE_CNTR,2]
_KIE_CNTR = _KIE_CNTR + 1
$NK_NAME[_KIE_CNTR]
$NK_TYPE[_KIE_CNTR]
$NK_NEXT[_KIE_CNTR]
$NK_AXIS[_KIE_CNTR]
$NK_OFF_DIR[_KIE_CNTR,1]
_KIE_CNTR = _KIE_CNTR + 1
$NT_NAME[_TRA_CNTR]
$NT_TRAFO_TYPE[_TRA_CNTR]
$NT_T_CHAIN_LAST_ELEM[_TRA_CNTR]
$NT_P_CHAIN_LAST_ELEM[_TRA_CNTR]
$NT_GEO_AX_NAME[_TRA_CNTR,0]
$NT_GEO_AX_NAME[_TRA_CNTR,2]
$NT_GEO_AX_NAME[_TRA_CNTR,1]
$NT_ROT_OFFSET_FROM_FRAME[_TRA_CNTR] = 1
_TRA_CNTR = _TRA_CNTR + 1
NEWCONF
STOPRE
Kinematische Transformationen
= "ROOT"
= "OFFSET"
= "X-Axis"
= ""
= "X-Axis"
= "AXIS_LIN"
= "Z-Axis"
= "X1"
= COS(20)
= SIN(20)
= "Z-Axis"
= "AXIS_LIN"
= "Y-Axis"
= "Z1"
= 1.0
= "Y-Axis"
= "AXIS_LIN"
= ""
= "Y1"
= 1.0
= "Trafo Traang"
= "TRAANG_K"
= "Y-Axis"
= ""
= "X-Axis"
= "Y-Axis
= "Z-Axis"
Transformation:
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