Siemens SINUMERIK 840DE sl Function Manual page 105

Axes A1, A2 and A3 are the main axes of the articulated robot. The axes A4, A5 and A6, which
are also designated as head or hand/wrist axes, are positioned in the working area with the
main axes. The additional motion options of the hand/wrist axes enable the milling spindle to be
orientated in space as required for the particular machining task. Various articulated joint
positions are possible to achieve the same tool orientation.
The articulated joint positions required for machining are selected by programming bit 0 ... 2 of
the adjustable STAT address:
Bit 0
Transformations
Function Manual, 06/2019, A5E47435470B AA
Position of the intersection points of the hand/wrist axes (A4, A5, A6)
= 0 Basic range (shoulder right)
The robot is in the basic range if the X value
of the intersection point of the hand/wrist ax‐
es is positive in relation to to the A1 coordi‐
nate system.
= 1 Overhead range (shoulder left)
The robot is in the overhead range if the X
value of the intersection point of the hand/
wrist axes is negative in relation to the A1
coordinate system.
M1: Kinematics transformation
2.6 Cartesian PTP travel
Example: The intersection point of
the hand/wrist axes lies in the basic
range
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