Siemens SINUMERIK 840DE sl Function Manual page 109
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Also See for SINUMERIK 840DE sl:
- Commissioning manual (1734 pages) ,
- Manual (92 pages) ,
- Function manual (2050 pages)
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Bit
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
The actual TU bit numbers obtained from the channel axis numbers of the robot axes! In the example,
1)
robot axes (A1 to A6) are the first six axes in the channel; as a consequence, TU bits 0 ... 5 are used.
For another channel axis assignment of the robot axes, the TU bit numbers of the robot axes would
correspondingly change (e.g.: robot axes are the 3rd to 8th channel axis, i.e. TU bits 2 ... 7 are used
for the robot axes).
TU=19 (corresponds to TU='B010011) would therefore signify:
Bit
0
1
Transformations
Function Manual, 06/2019, A5E47435470B AA
Meaning
Sign for the axis angle of A1
1)
Sign for the axis angle of A2
1)
Sign for the axis angle of A3
1)
Sign for the axis angle of A4
1)
Sign for the axis angle of A5
1)
Sign for the axis angle of A6
1)
Value
①
= 1
①
= 1
Value
= 0
= 1
= 0
= 1
= 0
= 1
= 0
= 1
= 0
= 1
= 0
= 1
Axis angle
θ
< 0°
A1
θ
< 0°
A2
M1: Kinematics transformation
2.6 Cartesian PTP travel
Axis angle
Axis angle
sign
+
≥ 0°
-
< 0°
+
≥ 0°
-
< 0°
+
≥ 0°
-
< 0°
+
≥ 0°
-
< 0°
+
≥ 0°
-
< 0°
+
≥ 0°
-
< 0°
109
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