Siemens SINUMERIK 840DE sl Function Manual page 110

M1: Kinematics transformation
2.6 Cartesian PTP travel
2
3
4
5
Note
In the case of axes with a traversing range > ±360°, the axis always moves along the shortest
path because the axis position cannot be specified uniquely by the TU information.
If no TU is programmed for a position, then depending on MD30455
$MA_MISC_FUNCTION_MASK, the shorter or longer path is traversed (see Chapter "Taking
into account the software limits for PTP travel (Page 100)" in the Extended Functions Function
Manual).
TRANSMIT
For PTP travel with TRANSMIT active, the address of TU has no meaning!
Example
The rotary axis position shown in the following diagram can be approached in the negative or
positive direction. The angular position is programmed under address A1. The traversing
direction is only absolutely clear when TU is specified.
110
①
= 0
①
= 0
①
= 1
①
= 0
θ ≥ 0°
A3
θ ≥ 0°
A4
θ < 0°
A5
θ ≥ 0°
A6
Function Manual, 06/2019, A5E47435470B AA
Transformations