Siemens SINUMERIK 840D sl Programming Manual page 429

Non-uniqueness of orientation with vectors
When programming the orientation with vectors, there is non-uniqueness in the rotary axis
positions available. The rotary axis positions to be approached can be selected by
programming STAT = <...>. If
If STAT = 0 is programmed (this is equivalent to the default setting),
the positions which are at the shortest distance from the start positions are approached. If
STAT = 1 is programmed,
the positions which are at a greater distance from the start positions are approached.
Significance
The PTP and CP commands act in a modal manner. CP is the default setting.
If modal applies when programming the STAT value, TU programming is = <...> non-modal.
Another difference is that programming a STAT value only has an effect during vector
interpolation, while programming TU is also evaluated during active rotary axis interpolation.
PTP
CP
STAT=
TU=
Job Planning
Programming Manual, 06/2009, 6FC5398-2BP20-0BA0
point to point (point to point motion)
The movement is executed as a synchronized axis movement; the slowest axis
involved in the movement is the dominating axis for the velocity.
continuous path (path motion)
The movement is executed as Cartesian path motion.
Position of the articulated joints; this value is dependent on the transformation.
TURN information acts blockwise. This makes it possible to clearly approach axis
angles between -360 degrees and +360 degrees.
Transformations
6.9 Cartesian PTP travel
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