Specify The Position Of The Joints (Stat) - Siemens SINUMERIK 840D sl Programming Manual

Work preparation
3.9 Transformations
PTPWOC:
CP:
Note
PTPWOC
It does not make any sense to use PTPWOC in combination with a RCTRA or ROBX
transformation!
Examples
See:
● Example 1: PTP travel of a 6-axis robot with ROBX transformation (Page 715)
● Example 2: PTP travel for generic 5-axis transformation (Page 716)
● Example 3: PTPG0 and TRANSMIT (Page 717)
3.9.11.2

Specify the position of the joints (STAT)

Position data with Cartesian coordinates and specification of the tool orientation are not
sufficient to uniquely identify the machine position, as several joint positions are possible for the
same tool orientation. Depending on the kinematics involved, there can be as many as 8
different joint positions. These different joint positions are transformation-specific.
In an order to avoid any ambiguity, the joint positions are specified under the STAT address.
Note
The control takes into account programmed STAT values only for PTP motions. They are
ignored with CP motions because a change of position is not normally possible while traversing
with an active transformation. When traversing with active CP, the position for the target point
is taken from the starting point.
Syntax
STAT=<Value>
Meaning
STAT:
<Value>:
708
Activate point-to-point movement PTPWOC (only possible if orientation transformation
is active)
Just the same as PTP, however, without any compensatory motion, which is caused by
motion of rotary axes and orientation axes.
Deactivating point-to-point motion and activating path motion CP
Cartesian path motion is executed with CP.
Adjustable address to specify joint positions
Binary or decimal value
Contains one bit for each possible position. The significance of the bits is defined by the
particular transformation.
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
NC programming