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9.2.4.2
$NT_NAME..........................................................................................................................382
9.2.4.3
$NT_TRAFO_INDEX............................................................................................................382
9.2.4.4
$NT_TRAFO_TYPE.............................................................................................................384
9.2.4.5
$NT_T_CHAIN_LAST_ELEM...............................................................................................385
9.2.4.6
$NT_P_CHAIN_LAST_ELEM...............................................................................................386
9.2.4.7
$NT_T_REF_ELEM..............................................................................................................387
9.2.4.8
$NT_GEO_AX_NAME..........................................................................................................388
9.2.4.9
$NT_ROT_AX_NAME..........................................................................................................389
9.2.4.10
$NT_CLOSE_CHAIN_P.......................................................................................................391
9.2.4.11
$NT_CLOSE_CHAIN_T.......................................................................................................392
9.2.4.12
$NT_ROT_OFFSET_FROM_FRAME..................................................................................393
9.2.4.13
$NT_TRAFO_INCLUDES_TOOL.........................................................................................393
9.2.4.14
$NT_AUX_POS....................................................................................................................394
9.2.4.15
$NT_IDENT..........................................................................................................................395
9.2.4.16
$NT_CNTRL.........................................................................................................................396
9.2.4.17
$NT_ROT_AX_CNT.............................................................................................................399
9.2.4.18
$NT_BASE_TOOL_COMP...................................................................................................400
9.2.5
Additive Systemvariablen für Orientierungstransformation..................................................401
9.2.5.1
Übersicht..............................................................................................................................401
9.2.5.2
$NT_BASE_ORIENT............................................................................................................401
9.2.5.3
$NT_BASE_ORIENT_NORMAL..........................................................................................402
9.2.5.4
$NT_ROT_AX_POS.............................................................................................................403
9.2.5.5
$NT_POLE_LIMIT................................................................................................................404
9.2.5.6
$NT_POLE_TOL..................................................................................................................406
9.2.5.7
$NT_IGNORE_TOOL_ORIENT...........................................................................................407
9.2.5.8
$NT_CORR_ELEM_T..........................................................................................................408
9.2.5.9
$NT_CORR_ELEM_P..........................................................................................................409
9.2.6
Additive Systemvariablen für Stirnflächentransformationen (TRANSMIT)...........................410
9.2.6.1
Übersicht..............................................................................................................................410
9.2.6.2
$NT_POLE_SIDE_FIX.........................................................................................................411
9.2.7
Additive Systemvariablen für Transformationsketten (TRACON_K)....................................412
9.2.7.1
$NT_TRACON_CHAIN........................................................................................................412
9.3
Programmierung..................................................................................................................413
9.3.1
Transformation einschalten (TRAFOON).............................................................................413
9.3.2
9.4
Beispiel.................................................................................................................................422
9.4.1
Vorgaben..............................................................................................................................422
9.4.2
Teileprogramm des Maschinenmodells...............................................................................425
10
M3: Achskopplungen................................................................................................................................429
10.1
Mitschleppen........................................................................................................................429
10.1.1
Kurzbeschreibung................................................................................................................429
10.1.1.1
Funktion...............................................................................................................................429
10.1.1.2
Voraussetzungen.................................................................................................................429
10.1.2
Allgemeine Funktionalität.....................................................................................................430
10.1.3
Programmierung..................................................................................................................434
10.1.3.1
Definition und Einschalten eines Mitschleppverbandes (TRAILON)....................................434
10.1.3.2
Ausschalten (TRAILOF).......................................................................................................434
10.1.4
Wirksamkeit der PLC-Nahtstellensignale.............................................................................435
10.1.5
Kopplungsstatus...................................................................................................................436
10.1.6
Dynamikbegrenzung............................................................................................................437
18
Funktionshandbuch, 12/2017, 6FC5397-2BP40-6AA1
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