Siemens SINUMERIK 840D sl Function Manual page 469

Examples
The following diagrams show examples for the ambiguity as a result of different joint positions
for 6-axis joint kinematics. Joint positions only become clear and unique as a result of the
STAT data.
Ambiguity, overhead range
Ambiguity, elbow up or down
Ambiguity, axis B1
Extended Functions
Function Manual, 10/2015, 6FC5397-1BP40-5BA3
M1: Kinematic transformation
7.6 Cartesian PTP travel
Position 1:
X1 = 0°
Y1 = 45°
Z1 = 45°
Position 2:
X1 = -180°
Y1 = -45°
Z1 = -45°
STAT = 'B01'
Position 1:
Y1 = -30°
Z1 = 60°
A1 = -30°
STAT = 'B00'
Position 2:
Y1 = 30°
Z1 = -60°
A1 = 30°
STAT = 'B10'
Position 1:
A1 = 0°
B1 = 40°
C1 = 0°
STAT = 'B00'
Position 2:
A1 = 180°
B1 = -40°
C1 = 180°
STAT = 'B100'
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