Siemens SINUMERIK 840D sl Programming Manual page 711

Program code
N16 ORIMKS
N17 G1 PTP X1665.67 Y0 Z1377.405 A=0 B=0 C=0 STAT=... F2000 ; The STAT value defines
...
STAT=1 ('B001')
STAT=2 ('B010')
STAT=5 ('B101')
NC programming
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
→ Shoulder left
→ Elbow down
→ No handflip
→ Shoulder right
→ Elbow up
→ No handflip
→ Shoulder left
→ Elbow down
→ Handflip
Work preparation
3.9 Transformations
Comment
the articulated joint
positions (see below)
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