Siemens SINUMERIK 840DE sl Funktionshandbuch Seite 346

K9: Kollisionsvermeidung, intern
7.4 Beispiel
Programmcode
; ----------------------------------------------------------
; Kinematisches Element: X-Achse
; ----------------------------------------------------------
$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
;
; ----------------------------------------------------------
; Kinematisches Element: Y-Achse
; ----------------------------------------------------------
$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
;
; ----------------------------------------------------------
; Kinematisches Element: Z-Achse
; ----------------------------------------------------------
$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
;
;
346
= "X-Achse"
= "Y-Achse"
= "Z-Achse"
= "AXIS_LIN"
; X
; Y
; Z
= "X1"
= 0.0
; naechstes Kinematisches Element
= "Y-Achse"
= ""
= ""
= "AXIS_LIN"
; X
; Y
; Z
= "Y1"
= 0.0
; naechstes Kinematisches Element
= "Z-Achse"
= ""
= ""
= "AXIS_LIN"
; X
; Y
; Z
= "Z1"
= 0.0
; naechstes Kinematisches Element
Funktionshandbuch, 12/2017, 6FC5397-2BP40-6AA1
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