Siemens SINUMERIK 840D sl Function Manual page 573

Figure 7-25
Figure 7-26
7.6.4 Example of ambiguity in rotary axis position
The rotary axis position shown in the following diagram can be approached in the negative or
positive direction. The direction is programmed under address A1.
Figure 7-27
Extended Functions
Function Manual, 03/2009, 6FC5397-1BP10-4BA0
Ambiguity of top or bottom elbow
Ambiguity of axis B1
Ambiguity in rotary axis position
Kinematic Transformation (M1)
Cartesian PTP travel
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