Siemens SINUMERIK 840D sl Programming Manual page 714

Work preparation
3.9 Transformations
Bit
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
2
3
4
5
Note
In the case of axes with a traversing range > ±360°, the axis always moves along the shortest
path because the axis position cannot be specified uniquely by the TU information.
If no TU is programmed for a position, then depending on MD30455
$MA_MISC_FUNCTION_MASK the shorter or longer path is traversed.
TRANSMIT
For PTP travel with TRANSMIT active, the address of TU has no meaning!
714
Meaning
Sign for the axis angle of A6
1)
Value
= 1 ⇒
= 1 ⇒
= 0 ⇒
= 0 ⇒
= 1 ⇒
= 0 ⇒
Value
= 0
= 1
Axis angle
θ < 0°
A1
θ < 0°
A2
θ ≥ 0°
A3
θ ≥ 0°
A4
θ < 0°
A5
θ ≥ 0°
A6
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
Axis angle Axis angle
sign
+ ≥ 0°
- < 0°
NC programming