Robot Position Stat (Status) - Siemens SINUMERIK 840D sl Programming Manual

4.5

Robot position STAT (status)

A Cartesian position must be able to be converted uniquely into an axis angle. Enter the
position of the joints under the STAT address. The STAT address contains a bit for every
possible setting as a binary value. The following 3 positions are available for the ROBX robot
transformation:
● Bit 0: Shoulder left/right
● Bit 1: Elbow Up/Down
● Bit 2: Handflip/no Handflip
The following programming examples illustrate the use of the STAT command. The basis is the
configuration from Chapter Multipart tools according to the Robot convention (Page 28).
STAT = 0 ('B000')
Programming
STAT = 0 ('B000')
Bit 0: 0 Shoulder right
Bit 1: 0 Elbow Down, A3 < 0°
Bit 2: 0 no 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='B000' F2000
SINUMERIK Run MyRobot /Direct Control
Programming Manual, 12/2018, A5E45237742B AB
4.5 Robot position STAT (status)
Graphic
Programming
39