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

Examples
See:
● Example 1: PTP and TRAORI (Page 472)
● Example 2: PTPG0 and TRANSMIT (Page 473)
7.6.3.2

Specify the position of the joints (STAT)

Position data with Cartesian coordinates and specification of the tool orientation is not sufficient
in order to uniquely identify the machine position, as for the same tool orientation, several joint
positions are possible. 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 only takes into account programmed STAT values for PTP motion. CP motion is
ignored because when traversing with active transformation, a position change is normally not
possible. When traversing with active CP, the position for the target point is taken from the
starting point.
Syntax
STAT=<Value>
Meaning
STAT:
<Value>:
The following assignments apply for transformations, which are included in the "Handling
transformation package":
Extended Functions
Function Manual, 10/2015, 6FC5397-1BP40-5BA3
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.
M1: Kinematic transformation
7.6 Cartesian PTP travel
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