Programming Of Position - Siemens SINUMERIK 840D sl Function Manual

M1: Kinematic transformation
7.6 Cartesian PTP travel
Alarm 10744: With PTPG0, CP travel is used for smooth approach and retraction (SAR), in
order to ensure correct processing of soft approach and retraction.
Alarm 10746: Still possible in case of conflict.
Alarm 17610: Transformation axes must not be configured simultaneously as positioning
axes traversed by means of POS.
Note
For further information about programming plus programming examples, please see:
References:
/PGA/, Programming Manual Job Planning, Chapter Transformations, "Cartesian PTP
Travel"
7.6.1

Programming of position

Generally speaking, a machine position is not uniquely defined solely by a position input with
Cartesian coordinates and the orientation of the tool. Depending on the kinematics of the
relevant machine, the joint may assume up to 8 different positions. These joint positions are
specific to individual transformations.
STAT address
A Cartesian position must be convertible into unique axis angles. For this reason, the
position of the joints must be entered in the STAT address.
The STAT address contains a bit for every possible setting as a binary value. The meaning
of these bits is determined by the relevant transformation.
As regards the transformations contained in the publication "Handling Transformation
Package (TE4)", the bits are assigned to different joint positions, as shown in the figure
above.
Figure 7-23
564
Position bits for Handling Transformation Package
Function Manual, 09/2009, 6FC5397-1BP20-0BA0
Extended Functions