Siemens SINUMERIK 840D sl Programming Manual page 432

Transformations
6.9 Cartesian PTP travel
Programming the position (STAT=)
A machine position is not uniquely determined just by positional data with Cartesian
coordinates and the orientation of the tool. Depending on the kinematics involved, there can
be as many as eight different and crucial articulated joint positions. These are specific to the
transformation. To be able to uniquely convert a Cartesian position into the axis angle, the
position of the articulated joints must be specified with the command STAT=. The "STAT"
command contains a bit for each of the possible positions as a binary value.
For information about the setting bits to be programmed for "STAT", see:
/FB2/ Description of Functions Extended Functions; Kinematic Transformation (M1),
"Cartesian PTP travel" section.
Programming the axis angle (TU=)
To be able to clearly approach axis angles < ± 360 degrees, this information must be
programmed using the command "TU=".
The axes traverse by the shortest path:
● when no TU is programmed for a position,
● with axes that have a traversing range > ±360 degrees.
Example:
The target position shown in the diagram can be approached in the negative or positive
direction. The direction is programmed under address A1.
A1=225°, TU=Bit 0, → positive direction
A1=−135°, TU=Bit 1, → negative direction
432
Programming Manual, 06/2009, 6FC5398-2BP20-0BA0
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