Axis Angular Position Tu (Turn) - Siemens SINUMERIK 840D sl Programming Manual

Programming

4.6 Axis angular position TU (turn)

4.6 Axis angular position TU (turn)
In order that you can uniquely approach an axis angle that is greater than ±180°, then you must
program this information under address TU (turn). Address TU represents the sign of the axis
angle. This allows an axis angle of |θ| < 360° to be uniquely approached without any ambiguity.
For each axis that is involved in the transformation, there is a bit in the TU variable. The
particular bit indicates the traversing direction.
● TU bit=0: 0° ≤ θ < 360°
● TU bit=1: -360° < θ < 0°
For linear axes, set the TU bit to 0. For axes with a traversing range >±360°, the axis always
moves along the shortest path as the axis position cannot be specified uniquely by the TU
information. If you do not program TU for a position, then the axis always moves along the
shortest path. In the following example, the shortest path is in the negative direction.
Figure 4-5
44
Example - axis angular position TU
SINUMERIK Run MyRobot /Direct Control
Programming Manual, 12/2018, A5E45237742B AB