<Corr_Mode>: Correction mode
Data type: INT
The <Corr_Index> parameter is decimal coded (units to thousands position):
Units
position:
Specifies which element is to be corrected.
xxx0 Correction of a linear offset vector
xxx1 Correction of the direction vector of an orientation axis
Tens
position:
Specifies how the correction element to which the content
of <Corr_Index> refers, is to be modified.
xx0x The correction vector is written immediately to the correc‐
tion element.
This variant can be used to immediately write the correction
element without the index <n> of the relevant system data
($NK_OFF_DIR[<n>, ...]) having to be known.
xx1x As 0, but with the difference that the transferred correction
value is interpreted in world coordinates.
A difference between variants 0 and 1 can always occur
when the kinematic chain in the initial state (positions of all
orientation axes equal to 0) contains other rotations.
xx2x As 1, but with the difference that the correction value refers
to the entire section, i.e. a value is entered in the correction
element so that the entire section reaches the length de‐
fined by the correction value.
Note:
The values 1 and 2 are not permissible when writing the direction
vector of an orientation axis.
Hundreds
position:
Specifies how the content of the <Corr_Vect> parameter is to be
interpreted.
x0xx The transferred correction vector <Corr_Vect> contains
the entire new length of the correction element or the sec‐
tion to which the <Corr_Index> in conjunction with the
tens position of <Corr_Mode> refers (absolute correction).
x1xx The transferred correction vector <Corr_Vect> only con‐
tains the difference compared to the current length of the
correction element or the section to which
the <Corr_Index> in conjunction with the tens position
of <Corr_Mode> refers (incremental correction).
Note:
For the correction of the direction vector of an orientation axis, the
content of the hundreds position must be 0.
Thou‐
sands
position:
Specifies whether the correction is to be limited by the following
maximum value:
● SD41610 $SN_CORR_TRAFO_LIN_MAX
or
● SD41611 $SN_CORR_TRAFO_DIR_MAX
0xxx Monitoring of the maximum correction is active.
1xxx Monitoring of the maximum correction is not active.
Work preparation
3.12 Transformation with kinematic chains
NC programming
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0 735
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