Specify The Sign Of The Axis Angle (Tu) - Siemens SINUMERIK 840D sl Function Manual

M1: Kinematic transformation
7.6 Cartesian PTP travel
7.6.3.3

Specify the sign of the axis angle (TU)

In order that rotary axes can also approach axis angles exceeding +180° or less than -180°
without requiring a special traversing strategy (e.g. intermediate point), the sign of the axis
angle must be specified under the adjustable address TU.
Note
The control only takes into account programmed TU values for PTP motion. CP motion is
ignored.
Syntax
TU=<Value>
Meaning
TU:
<Value>:
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
Bit 5
470
Adjustable address to specify axis angle signs
Binary or decimal value
For each axis that is involved in the transformation, there is a bit that indicates the sign
of the axis angle (θ), and therefore the traversing direction.
Bit = 0
= 1
Sign of axis angle A1
= 0 A1 ≥ 0°
= 1 A1 < 0°
Sign of axis angle A2
= 0 A2 ≥ 0°
= 1 A2 < 0°
Sign of axis angle A3
= 0 A3 ≥ 0°
= 1 A3 < 0°
Sign of axis angle A4
= 0 A4 ≥ 0°
= 1 A4 < 0°
Sign of axis angle A5
= 0 A5 ≥ 0°
= 1 A5 < 0°
Sign of axis angle A6
= 0 A6 ≥ 0°
= 1 A6 < 0°
0° ≤ θ < 360°
- 360° < θ < 0°
Function Manual, 10/2015, 6FC5397-1BP40-5BA3
Extended Functions