Siemens SINUMERIK 840D sl Function Manual page 471

TU=19 (corresponds to TU='B010011) would therefore signify:
Bit
0
1
2
3
4
5
Note
In the case of axes with a traversing range > ±360°, the axis always moves along the shortest
path because the axis position cannot be specified uniquely by the TU information.
If no TU is programmed for a position, the axis always traverses via the shortest possible route.
TRANSMIT
For PTP travel with TRANSMIT active, the address of TU has no meaning!
Example
The rotary axis position shown in the following diagram can be approached in the negative or
positive direction. The angular position is programmed under address A1. The traversing
direction is only absolutely clear when TU is specified.
Extended Functions
Function Manual, 10/2015, 6FC5397-1BP40-5BA3
Value
①
= 1
①
= 1
①
= 0
①
= 0
①
= 1
①
= 0
Axis angle
A1 < 0°
A2 < 0°
A3 ≥ 0°
A4 ≥ 0°
A5 < 0°
A6 ≥ 0°
M1: Kinematic transformation
7.6 Cartesian PTP travel
471