Siemens SINUMERIK 840D sl Function Manual page 468

M1: Kinematic transformation
7.6 Cartesian PTP travel
The meaning of the bits will be demonstrated using an example of a robot with a 6-axis joint
kinematics:
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
TRANSMIT
For TRANSMIT, address STAT is used to resolve the ambiguity regarding the pole.
If the rotary axis must rotate through 180º or for CP, the contour would go through the pole,
the following applies:
Bit 0
Bit 1
468
Position of the intersection points of the manual axes (A4, A5, A6)
= 0 Basic range
The robot is in the basic range if the X value of the intersection point of the
manual axes is positive referred to the A1 coordinate system.
= 1 Overhead range
The robot is in the overhead range if the X value of the intersection point of the
manual axes is negative referred to the A1 coordinate system.
Position of axis 3
The angle where the value of bit 1 changes depends on the particular robot type. The fol‐
lowing applies for robots whose axes 3 and 4 intersect:
= 0 A3 < 0°
= 1 A3 ≥ 0°
Note:
For robots with an offset between axes 3 and 4, the angle where the value of bit 1 changes
is dependent on the magnitude of this offset.
Position of axis 5
= 0 A5 ≤ 0°
= 1 A5 > 0°
Is not used. Value is always 0.
Specifies as to whether the point was taught in with a robot with absolute precision – or not.
= 0 The point was not taught in with a robot with absolute precision.
= 1 The point was taught in with a robot with absolute precision.
Note:
Independent of the value of the bit, the point can be approached with robots that have ab‐
solute precision – as well as robots that do not have absolute precision. Bit 4 is for information
purposes only, and has no influence as to how the robot control calculates the point. Bit 4
can therefore be neglected if a robot is programmed offline.
Only relevant for $MC_TRANSMIT_POLE_SIDE_FIX_1/2 = 1 or 2:
= 0 Rotary axis traverses through +180º or rotates clockwise.
= 1 Rotary axis rotates through -180º or rotates counterclockwise.
Only relevant for $MC_TRANSMIT_POLE_SIDE_FIX_1/2 = 0:
= 0 The axis traverses through the pole. The rotary axis does not rotate.
= 1 The axis rotates around the pole. Bit 0 of STAT is relevant.
Function Manual, 10/2015, 6FC5397-1BP40-5BA3
Extended Functions