Siemens SINUMERIK 840DE sl Function Manual page 106

M1: Kinematics transformation
2.6 Cartesian PTP travel
Bit 1
Bit 2
Program example:
Program code
...
N14 T="T8MILLD20" D1
N16 ORIMKS
N17 G1 PTP X1665.67 Y0 Z1377.405 A=0 B=0 C=0 STAT=... F2000 ; The STAT value defines
...
STAT=1 ('B001')
106
Position of axis 3
The angle at which the value of bit 1 changes depends on the particular robot type. The
following applies to robots whose axes 3 and 4 intersect:
= 0 A3 <0° (elbow down)
= 1 A3 ≥0° (elbow up)
Note:
For robots with an offset between axes 3 and 4, the
angle at which the value of bit 1 changes depends on
the magnitude of this offset.
Position of axis 5
= 0 A5 ≥0° (no handflip)
= 1 A5 <0° (handflip)
→ Shoulder left
→ Elbow down
→ No handflip
Offset between A3 and A4
Comment
; $TC_DP3[1,1]=132.95
the articulated joint
positions (see below)
Function Manual, 06/2019, A5E47435470B AA
Transformations