Example Of Ambiguity In Rotary Axis Position - Siemens SINUMERIK 840D sl Function Manual

Figure 7-25
Figure 7-26
7.6.4

Example of ambiguity in rotary axis position

The rotary axis position shown in the following diagram can be approached in the negative or
positive direction. The direction is programmed under address A1.
Figure 7-27
Extended Functions
Function Manual, 01/2008, 6FC5397-1BP10-3BA0
Ambiguity of top or bottom elbow
Ambiguity of axis B1
Ambiguity in rotary axis position
Kinematic Transformation (M1)
7.6 Cartesian PTP travel
549