Siemens SINUMERIK 840D sl Programming Manual page 713

Meaning
TU:
<Value>:
Example: 6-axis articulated robot
Bit
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
NC programming
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
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
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)
Axis angle sign: +
Axis angle sign: -
Work preparation
3.9 Transformations
Axis angular range: 0° ≤ θ < 360°
Axis angular range: - 360° < θ < 0°
Value Axis angle
sign
= 0 +
= 1 -
= 0 +
= 1 -
= 0 +
= 1 -
= 0 +
= 1 -
= 0 +
= 1 -
Axis angle
≥ 0°
< 0°
≥ 0°
< 0°
≥ 0°
< 0°
≥ 0°
< 0°
≥ 0°
< 0°
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