Siemens SINUMERIK 840D sl Programming Manual page 42
Sinumerik run myrobot /direct control
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Also See for SINUMERIK 840D sl:
- Function manual (2184 pages) ,
- Programming manual (1334 pages) ,
- Commissioning manual (1102 pages)
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Programming
4.5 Robot position STAT (status)
STAT = 5 ('B101')
Programming
STAT = 5 ('B101')
Bit 0: 1 Shoulder left
Bit 1: 0 Elbow Down, A3 < 0°
Bit 2: 1 Handflip, A5 ≤ 0°
Example:
N14 T="T8MILLD20" D1 ; $TC_DP3[1,1 ]=132.95
N16 ORIMKS
N17 G1 PTP X1665.67 Y0 Z1377.405 A=0 B=0 C=0 STAT='B101' F2000
STAT = 6 ('B110')
Programming
STAT = 6 ('B110')
Bit 0: 0 Shoulder right
Bit 1: 1 Elbow Up, A3 ≥ 0°
Bit 2: 1 Handflip, A5 ≤ 0°
Example:
N14 T="T8MILLD20" D1 ; $TC_DP3[1,1 ]=132.95
N16 ORIMKS
N17 G1 PTP X1665.67 Y0 Z1377.405 A=0 B=0 C=0 STAT='B110' F2000
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SINUMERIK Run MyRobot /Direct Control
Programming Manual, 12/2018, A5E45237742B AB
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