Specifying Machine And Rotary Axis Positions - Siemens SINUMERIK 840D sl Commissioning Manual

08/2005

4.12 Specifying machine and rotary axis positions

Singularities with special kinematics and robots
When the cartesian point-to-point method (PTP) in workpiece coordinates is used,
the position of machine axes is ambiguous at certain points. In order to define
these singularities without ambiguity, the position of the machine STAT and the
position of the axes TU are defined in addition to the workpiece coordinates for this
type of transformation (e.g., 5-axis transformation).
Setting the numerical basis
The STAT- and TU values are displayed in the axis screens (actual-value window,
broad actual-value window with feed and zoom display) and entered in the MDA
editor during the teach-in procedure.
Whether the values in STAT and TU are displayed in binary, decimal or
hexadecimal format is set via the display machine data:
MD 9242: MA_STAT_DISPLAY_BASE
MD 9243: MA_TU_DISPLAY_BASE
Possible settings are:
02:
10:
16:
These settings apply to both the actual-value window and the editor window.
Example
In the NC program the movement of axes from X120 Y20 Z-50 to X200 Y200 Z-120
looks like this in binary display:
• X=120 Y=20 Z=-50 STAT='B010' TU'B011101'
• X=200 Y200 Z=-120 STAT'B110' TU='B011111'
References:
Show/hide STAT and TU
The STAT and TU values are displayed in the axis screens (actual-value windows)
and in teach mode (insert block).
You can choose whether or not to show the STAT and TU values by setting the
following display machine data:
STAT and TU are not displayed:
MD 9242: MA_STAT_DISPLAY_BASE
MD 9243: MA_TU_DISPLAY_BASE
STAT and TU are displayed:
MD 9242: MA_STAT_DISPLAY_BASE
MD 9243: MA_TU_DISPLAY_BASE
© Siemens AG, 2005. All rights reserved
SINUMERIK 840D sl/840D/840Di/810D HMI Installation and Start-Up Guide (IAM) – 08/2005 Edition
Display as binary value
Display as decimal value
Display as hexadecimal value
/FB1/ Description of Functions, K2: Frames...
Starting Up HMI Embedded (IM2)
4 Functions/Parameterization
Numerical basis for display of
articulated position STAT
Numerical basis for display of
rotary axis position TU
= 0 of articulated position STAT
= 0 of rotary axis position TU
= 1 of articulated position STAT
= 1 of rotary axis position TU
IM2/4-55