Siemens SINUMERIK 828D Funktionshandbuch Seite 157

;########################################
;Definition der C1-Rotationsachse
;########################################
$NK_NAME[COUNT1]="C1_AXIS_ROT" ;Index=9
$NK_NEXT[COUNT1]="END_PART_CHAIN"
$NK_PARALLEL[COUNT1]=""
$NK_TYPE[COUNT1]="AXIS_ROT"
$NK_OFF_DIR[COUNT1,0]=0
$NK_OFF_DIR[COUNT1,1]=0
$NK_OFF_DIR[COUNT1,2]=-1
$NK_AXIS[COUNT1]="C1"
$NK_A_OFF[COUNT1]=0
COUNT1=COUNT1+1
;########################################
;Ende der Part-Kette der kinematischen Kette
;########################################
$NK_NAME[COUNT1]="END_PART_CHAIN" ;Index=10
$NK_NEXT[COUNT1]=""
$NK_PARALLEL[COUNT1]=""
$NK_TYPE[COUNT1]="OFFSET"
$NK_OFF_DIR[COUNT1,0]=0
$NK_OFF_DIR[COUNT1,1]=0
$NK_OFF_DIR[COUNT1,2]=0
$NK_AXIS[COUNT1]=""
$NK_A_OFF[COUNT1]=0
;########################################
;Definition der Transfomrationselemente
;########################################
$NT_NAME[COUNT2]="TRAIPD" ;Index COUNT2=5
$NT_TRAFO_TYPE[COUNT2]="TRAINT"
$NT_T_CHAIN_FIRST_ELEM[COUNT2]=""
$NT_P_CHAIN_FIRST_ELEM[COUNT2]=""
$NT_T_CHAIN_LAST_ELEM[COUNT2]="END_TOOL_CHAIN"
$NT_P_CHAIN_LAST_ELEM[COUNT2]="ROOT"
$NT_T_REF_ELEM[COUNT2]=""
$NT_GEO_AX_NAME[COUNT2,0]="X1_AXIS_LIN"
$NT_GEO_AX_NAME[COUNT2,1]="Y1_AXIS_LIN"
$NT_GEO_AX_NAME[COUNT2,2]="Z1_AXIS_LIN"
$NT_ROT_AX_NAME[COUNT2,0]="SP1_AXIS_ROT"
$NT_CNTRL[COUNT2]='H180'
Transformationen
Funktionshandbuch, 01/2023, A5E48764313A AE
5.4 Drehinterpolationstransformation TRAINT (Option)
;Kette schliessen
Kinematische Transformationen
157